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Camera and lidar recalibration method, 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, not suitable for on-site calibration, etc., achieving small calibration error, high calibration accuracy and robustness, saving manpower and time cost effect

Active Publication Date: 2022-02-22
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 lidar recalibration method, device and computer-readable storage medium
  • Camera and lidar recalibration method, device and computer-readable storage medium
  • Camera and lidar recalibration method, 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 recalibration method, device and computer-readable storage medium, wherein the camera and laser radar recalibration method includes: acquiring a reference image and a reference point cloud of a reference position in a calibration state; In the drifting state, through the obtained reference image and reference point cloud, combined with the observation image and observation point cloud obtained at the observation position, the automatic recalibration method of camera and lidar based on sensor fusion odometer is used for recalibration. The camera and laser radar automatic recalibration method of the present invention does not need to set a calibration board, is not limited by the environment and data characteristics, can realize accurate recalibration of the camera and laser radar, and has high robustness to 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 Patents(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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