Radar and camera calibration method, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a radar and camera calibration method, electronic equipment and a storage medium, relates to the technical field of automatic driving, and can improve the calibration efficiency of a radar and a camera. According to the technical scheme of the embodiment of the invention, the method comprises the steps: setting a calibration board in a common-view region of a vehicle-mounted radar and the camera; in the process that the vehicle travels towards the calibration plate, enabling a vehicle-mounted radar to acquire multiple frames of point cloud data, and enabling a vehicle-mounted camera to acquire multiple frames of image data; determining target image data matching each frame of point cloud data according to the timestamp of each frame of point cloud data in the multiple frames of point cloud data and the timestamp of each frame of image data in the multiple frames of image data; then for each frame of point cloud data, determining a first calibration point in the point cloud data, and determining a second calibration point in the target image data matched with the point cloud data to obtain a calibration point group corresponding to the point cloud data; and determining a coordinate conversion relation between a coordinate system of the radar and a coordinate system of the camera according to the calibration point groups corresponding to the point cloud data.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a radar and camera calibration method, electronic equipment and a storage medium. Background technique [0002] In the process of autonomous driving, intelligent driving vehicles need to perceive rich environmental information around them, and take safety measures in time when they perceive potential safety hazards in the surrounding environment. In order to collect the environmental information around the vehicle, two types of sensors, lidar and camera, are generally installed in the intelligent driving vehicle. The camera can collect rich texture and color information in the environment, but it is difficult to accurately collect the distance information of the characteristic objects in the environment; the lidar can accurately obtain the distance information of the characteristic objects in the environment, but it is difficult to obtain the texture and color informati...

AI Technical Summary

Problems solved by technology

However, the position of the calibration board needs to be adjusted manually, which makes the calibration efficiency low

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