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Sensor calibration method and device, storage medium and calibration system

A calibration method and sensor technology, applied in the field of computer vision, can solve problems such as inaccurate calibration results

Pending Publication Date: 2021-05-18
SENSETIME GRP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The disclosure provides a sensor calibration method and device, a storage medium and a calibration system, which can solve the technical problem that the calibration result is not accurate enough due to the error of manual matching point cloud data accumulated many times in the calibration process

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  • Sensor calibration method and device, storage medium and calibration system
  • Sensor calibration method and device, storage medium and calibration system
  • Sensor calibration method and device, storage medium and calibration system

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Embodiment Construction

[0064] 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 examples do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present disclosure as recited in the appended claims.

[0065]The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. As used in this disclosure and the appended claims, the singular forms "a", "said" and "the" are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be underst...

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Abstract

The invention provides a sensor calibration method and device, a storage medium and a calibration system. The sensor comprises a camera and a radar, a calibration plate is located in the common view field of the radar and the camera, and the method comprises the steps that multiple images of the calibration plate in different poses are collected through the camera, multiple groups of radar point cloud data of the calibration board in different poses are acquired through a radar; a corresponding relation between the image and the radar point cloud data is established based on different poses of the calibration plate; target radar point cloud data matched with the calibration board are determined in the multiple sets of radar point cloud data; and according to the multiple groups of target radar point cloud data and the multiple groups of corresponding relations, target external parameters between the radar and the camera are determined.

Description

technical field [0001] The present disclosure relates to the field of computer vision, in particular to a sensor calibration method and device, a storage medium and a calibration system. Background technique [0002] As the field of computer vision continues to evolve, radar and cameras have become an integral combination of sensors. Based on the data provided by radar and cameras, machines can learn to perceive their surroundings. [0003] However, in the process of radar and camera fusion, the accuracy of the extrinsic parameters between radar and camera determines the accuracy of environment perception. In the process of calibrating the external parameters between the radar and the camera, the calibration accuracy is mainly determined by the internal parameters of the camera, the external parameters of the calibration plate relative to the camera, and the matching accuracy of point cloud data. The error of manually matching point cloud data will accumulate many times du...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G01S7/40
CPCG06T7/80G01S7/4004G06T2207/10028G01S7/40H04N17/002G01S13/867G01S13/89G01S7/406G06T2207/10004G06T2207/30208G06T2207/30252G06T7/70G06T2207/30244
Inventor 马政闫国行刘春晓石建萍
Owner SENSETIME GRP LTD
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