Relative pose calibration method and related device

A technology of relative pose and calibration method, which is applied in image data processing, instrumentation, calculation, etc., and can solve problems such as easy failure and heavy workload

Active Publication Date: 2021-04-09
HUAWEI TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this scheme has the following disadvantages: it needs to obtain the prior location information of the surrounding environment, and it is easy to fail when the prior is not satisfied; it needs to collect a large amount of data to obtain the prior location information, and the workload is heavy

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  • Relative pose calibration method and related device
  • Relative pose calibration method and related device
  • Relative pose calibration method and related device

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Embodiment Construction

[0054] The terms "first", "second", and "third" in the description, embodiments and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily to describe a specific order or priority. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, of a sequence of steps or elements. A method, system, product or device is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to the process, method, product or device. "And / or" is used to select one or both of the two objects it connects. For example "A and / or B" means A, B or A+B.

[0055] As mentioned in the background art, the relative poses of the cameras on the self-driving car will change with the increase of usage time. At this time, the calibration parameters of each camera (ie, the external...

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Abstract

The invention discloses a relative pose calibration method applied to cameras on an automatic driving automobile and a related device. The relative pose calibration method comprises the steps of collecting images through a first camera and a second camera; performing feature point matching on the image acquired by the first camera and the image acquired by the second camera to obtain a first matching feature point set; determining a first relative pose between the first camera and the second camera according to the first matching feature point set; under the condition that the difference value between the first relative pose and the second relative pose is not greater than a pose change threshold value, updating the second relative pose into the first relative pose; wherein the second relative pose is a relative pose between the first camera and the second camera currently stored in the automatic driving device. The relative pose calibration method provided by the invention is high in calibration precision and high in reliability.

Description

technical field [0001] The present application relates to the field of automatic driving, and in particular to a relative pose calibration method and related devices applied to cameras on an automatic driving vehicle. Background technique [0002] Self-driving cars need to have a high perception ability for the 360° environment of the car body, and need to have stable and reliable perception results for obstacles in different scenes, different lighting conditions, and different distances. Due to factors such as camera parameters and installation location, a single camera cannot achieve full coverage of 360°. Therefore, autonomous vehicles are generally equipped with multiple cameras to improve visual perception. Different cameras generally have different camera parameters (such as focal length, resolution, dynamic range, etc.), and are installed in different positions of the vehicle body to obtain more comprehensive perception results. For example, an autonomous vehicle is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/73G06T3/60
CPCG06T3/60G06T2207/10004G06T2207/30252G06T7/74G06T7/80
Inventor 刘会陈亦伦陈同庆
Owner HUAWEI TECH CO LTD
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