Multi-sensor time space calibration method and device

A time-space, multi-sensor technology, applied in instrumentation, image data processing, calculation, etc., can solve problems such as time-space deviation, achieve the effects of improving robustness, increasing effective working time, and improving positioning accuracy

Active Publication Date: 2021-04-02
ZHEJIANG LAB
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Problems solved by technology

[0003] The purpose of the embodiments of the present invention is to provide a multi-sensor time-space calibration method and device to solve the problem of time-space deviation between the existing cameras, lidar and IMU sensors during long-term operation in an extraterrestrial environment

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  • Multi-sensor time space calibration method and device

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[0027] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.

[0028] The terminology used in this application is for the purpose of describing particular embodiments only, and is not intended to limit the application. As used in this application and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term...

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Abstract

The invention discloses a multi-sensor time-space calibration method and device, and the method comprises the steps: obtaining IMU data through an IMU sensor, obtaining image data through a camera, and obtaining point cloud data through a laser radar; carrying out semantic segmentation and feature point extraction on the image data, carrying out matching, constructing a re-projection error equation, and introducing first time deviation between an IMU sensor and a camera into the re-projection error equation; correcting the point cloud data, introducing a second time deviation between the IMU sensor and the laser radar, registering the corrected point cloud, and calculating a relative pose between two frames of point clouds; obtaining IMU data between two frames of images and IMU data between point clouds, and calculating a relative pose and a pose deviation through pre-integration; and setting a sliding window, and performing iterative optimization solution according to the reprojection error equation, the relative pose and the pose deviation in the sliding window to realize multi-sensor time-space calibration.

Description

technical field [0001] The invention relates to the technical field of multi-sensor calibration, in particular to a multi-sensor time-space calibration method and device. Background technique [0002] At present, the sensor calibration mostly adopts the off-line calibration method, that is, the calibration work has been completed before the detection system works, and the off-line calibration results are completely used to work when the system is working. However, the detection system has to work in an extraterrestrial environment far away from the earth for a long time, and the working conditions are harsh. The position of the sensors it carries may change due to sandstorms or long-term turbulence. At this time, the time and space deviation of offline calibration is quite different from the actual situation of the system The error greatly affects the accuracy of the detection system for the environment. Although some detection systems will carry a calibration plate to corr...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/73G06T7/11
CPCG06T2207/10028G06T7/11G06T7/73G06T7/80
Inventor 李月华何伟朱世强李小倩谢天
Owner ZHEJIANG LAB
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