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Camera and laser radar re-calibration method and device and computer readable storage medium

A laser radar and calibration method technology, applied in the field of intelligent driving environment perception, can solve the problems of poor robustness, time-consuming and labor-intensive, inapplicable on-site calibration, etc., achieving small calibration error, high calibration accuracy and robustness, saving manpower and time cost effect

Active Publication Date: 2021-05-25
SOUTHEAST UNIV
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Problems solved by technology

If the method based on the calibration board is used to recalibrate the camera and lidar, it is undoubtedly time-consuming and laborious, and it is not suitable for on-site calibration; if the method not based on the calibration board is used, its performance is greatly affected. Limited by environment and data characteristics, poor robustness

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  • Camera and laser radar re-calibration method and device and computer readable storage medium
  • Camera and laser radar re-calibration method and device and computer readable storage medium
  • Camera and laser radar re-calibration method and device and computer readable storage medium

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Embodiment Construction

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the following will further describe the embodiments of the present application in detail in conjunction with the accompanying drawings.

[0040] Please refer to figure 1 , which shows a flow chart of a camera and lidar automatic recalibration method based on a sensor fusion odometer provided by an embodiment of the present application. The sensor fusion odometer-based camera and lidar automatic recalibration method can be applied to intelligent driving in the vehicle system. The camera and lidar automatic recalibration method based on sensor fusion odometer may include:

[0041] Step 101, record reference data: firstly, use a well-calibrated camera and lidar, that is, acquire a reference camera image and a reference point cloud at a reference position when the relative pose of the sensor does not change.

[0042] In this embodiment, any calibration m...

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Abstract

The invention discloses a camera and laser radar re-calibration method and device and a computer readable storage medium. The camera and laser radar re-calibration method comprises the following steps: acquiring a reference image and a reference point cloud of a reference position in a calibration state; and when the sensor is in a drifting state, performing re-calibration by adopting a camera based on a sensor fused odometer and a laser radar automatic re-calibration method through the acquired reference image and reference point cloud in combination with an observation image and observation point cloud acquired at an observation position. According to the camera and the laser radar automatic re-calibration method, a calibration board does not need to be arranged, the method is not limited by environment and data characteristics, accurate re-calibration of the camera and the laser radar can be achieved, and the method has high robustness for sensor drift.

Description

technical field [0001] This application relates to the field of intelligent driving environment perception, in particular to an automatic recalibration method for cameras and lidar based on sensor fusion odometer. Background technique [0002] Intelligent driving vehicles use multi-modal sensors to accurately and comprehensively understand road environment information for safe decision-making and control. Many studies have used the complementary features of camera and lidar to robustly perceive the surrounding traffic conditions, and accurate external parameter calibration between the two sensors is a prerequisite for the realization of intelligent vehicle fusion perception. [0003] The external parameter calibration of the camera and the lidar is to minimize the alignment error of the corresponding points of the two coordinate systems by finding the rigid body transformation matrix from the lidar coordinate system to the camera coordinate system. The traditional method re...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/33G06T5/50
CPCG06T7/80G06T7/33G06T5/50G06T2207/10044
Inventor 殷国栋彭湃耿可可庄伟超刘帅鹏卢彦博徐利伟冯吉伟
Owner SOUTHEAST UNIV
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