Calibration method, device, equipment and readable storage medium for lidar and camera
A laser radar and camera technology, applied in image analysis, image enhancement, instruments, etc., can solve problems such as unfriendly users, complicated operation process, radar and camera brand requirements, etc., and achieve the effect of improving calibration efficiency and accuracy
Active Publication Date: 2022-03-15
CHINA AUTOMOTIVE TECH & RES CENT +1
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Problems solved by technology
The current joint calibration method has problems such as requirements for the radar and camera brands used, or the algorithm is not open source, and the operation process is complicated, which is not friendly to users.
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[0029] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.
[0030] An embodiment of the present invention provides a method for calibrating a laser radar and a camera, the flow chart of which is shown in Figure 1a As shown, it is applicable to the joint calibration of lidar and camera through the calibration board. The method can be performed by a laser radar and camera calibration device, which can be composed of software and / or hardware, and is generally integrated in electronic equipment.
[0031] to combine Figure 1a , the method provided in this embodiment specifica...
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The embodiment of the invention discloses a laser radar and camera calibration method, device, equipment and readable storage medium, and relates to the technical field of intelligent networked vehicles and equipment calibration. Among them, the method includes: obtaining the point cloud data obtained by scanning the calibration plate with the laser radar, and the image obtained by shooting the calibration plate with the camera; performing preliminary calibration according to the pose information of the laser radar and the camera, and obtaining a rotation matrix and a translation matrix; According to the internal reference matrix of the camera, the rotation matrix and translation matrix, the point cloud data is mapped to the image coordinate system to obtain two-dimensional point cloud data; according to the geometric change information of the two-dimensional point cloud data relative to the calibration plate in the image , to adjust the corresponding parameters of the rotation matrix and the translation matrix; the geometric change information includes at least one of trapezoidal variable, rotation angle, enlargement / reduction amount, and offset amount. The embodiment of the present invention realizes the joint calibration of the laser radar and the camera through an efficient and accurate method.
Description
technical field [0001] Embodiments of the present invention relate to intelligent networked vehicles and equipment calibration technology, and in particular to a laser radar and camera calibration method, device, equipment and readable storage medium. Background technique [0002] Environmental comprehensive perception technology is the basis of ICV technology. It uses sensors to obtain information such as roads around the vehicle, obstacles, and vehicle and pedestrian positions, and transmits this information to the vehicle decision-making control center to provide information for the decision-making behavior of ICVs. Providing data support is an indispensable "eye" for intelligent connected vehicles. [0003] Lidar and camera are the two core sensors of the intelligent networked vehicle perception system. The fusion of laser radar data and camera data to achieve accurate spatial object positioning and tracking has become a research hotspot in current intelligent networked ...
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IPC IPC(8): G01S7/497G06T7/80
CPCG01S7/497G06T7/80G06T2207/10028
Inventor 姚艳南黄晓延吕吉亮
Owner CHINA AUTOMOTIVE TECH & RES CENT