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Calibration method, calibration device, distance measurement system and computer readable storage medium

A calibration method and a technology for calibrating images, applied in the computer field, can solve problems such as difficult automatic labeling and labeling, and achieve the effect of quantifiable calibration results, easy verification, and reduction of systematic errors.

Pending Publication Date: 2021-09-24
SHENZHEN SKYFEND TECH CO LTD
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Problems solved by technology

[0003] The application provides a calibration method, a calibration device, a ranging system and a computer-readable storage medium, the main purpose of which is to solve the technical problems of difficult automatic labeling and labeling in the prior art

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  • Calibration method, calibration device, distance measurement system and computer readable storage medium
  • Calibration method, calibration device, distance measurement system and computer readable storage medium
  • Calibration method, calibration device, distance measurement system and computer readable storage medium

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Embodiment Construction

[0032] It will be appreciated that the specific embodiments described herein are intended to explain the present application and is not intended to limit the present application.

[0033] The present application provides a calibration method, the calibration method is applied to the calibration apparatus, the calibration apparatus may be a ranging system calibration apparatus. The radar ranging system comprising a laser and an imaging device, the calibration means may be a laser or radar imaging device control module. Refer figure 1 , The calibration method flowchart of the preferred embodiment of the present application. The method can be performed by a device, which can be implemented by software and / or hardware.

[0034] In the present embodiment, the calibration method comprising:

[0035] Step S10, the acquired calibration image; said calibration image is a photo image pickup device to capture the calibration pattern.

[0036] Wherein the imaging apparatus to collect pictur...

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Abstract

The invention discloses a calibration method. The calibration method comprises the following steps: acquiring a calibration image; the calibration image being a photo of a calibration pattern collected by a camera device; extracting angular points in the calibration image, and calculating a first normal vector according to the angular points; obtaining a point cloud set of the calibration pattern; the point cloud set being acquired according to the laser radar; determining a point cloud plane according to the point cloud set, and solving a second normal vector of the point cloud plane; calculating an included angle between the first normal vector and the second normal vector; and calibrating the camera device and the laser radar according to the included angle. The invention further provides a calibration device, a distance measurement system and a computer readable storage medium. The technical problems of incapability of automatic calibration and inconvenience in calibration result verification in the prior art are solved.

Description

Technical field [0001] The present application relates to computer technologies, and particularly to a method for calibration, calibration means for ranging systems and computer-readable storage medium. Background technique [0002] Now, with advances in the development of Internet technology, and industrial technology, simply can not meet the imaging device to detect unmanned vehicle detection information for the scale of the obstacle, the radar can not only meet the requirements of the smart car category obstacle detection, Therefore, multi-sensor integration aspirations, the first step corresponding to the external reference should be calibrated. However, the present application inventors have found that in the practice of the present invention, the conventional method of using normal vectors manual annotation positioning a grid in the laser radar coordinate system, there are some systematic errors artificial annotation, such external reference calibration accuracy Low. In add...

Claims

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Application Information

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IPC IPC(8): G06T7/80G01S7/497
CPCG06T7/80G01S7/497G06T2207/10028G06T2207/30208
Inventor 任仲超辛明
Owner SHENZHEN SKYFEND TECH CO LTD
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