Panoramic annular camera and laser radar joint calibration method

Abstract

The invention discloses a method for joint calibration of a panoramic annular camera and a laser radar. The method comprises the following steps of S1, acquiring point cloud data of the laser radar and panoramic annular image data; S2, calibrating a panoramic annulus camera according to the panoramic annulus image data to obtain camera parameters; S3, extracting point cloud data on all calibration plates to obtain a plane equation; S4, calculating a normal vector of a plane equation of each calibration plate under the laser radar coordinate system, and performing normalization processing; S5, calculating a normal vector of each calibration plate in the panoramic annular camera coordinate system, and performing normalization processing; S6, projecting the normal vector of the point cloud data of the calibration plate and the normal vector of the image data to the panoramic girdle image according to a calibration result, and recording respective numbers and pixel coordinates; S7, based on the recorded serial number, fitting being carried out by adopting a least square method, and pixel coordinates of a normal vector after fitting being obtained; and S8, calculating a rotation matrix and a translation matrix, and completing joint calibration of the panoramic annulus camera and the laser radar.

Description

technical field [0001] The invention relates to the technical field of vehicle-mounted panoramic perception and mobile robots, in particular to a method for joint calibration of a panoramic ring camera and a laser radar. Background technique [0002] As a sensor for various household intelligent robots, service robots, unmanned cars and vehicle-mounted automatic driving systems, lidar has high-precision ranging capabilities and can accurately and quickly obtain the relative spatial coordinates of environmental objects. The panoramic ring camera has a secondary reflection lens of Panoramic Annular Lens (PAL), which can record horizontal 360° optical information in a single-purpose manner, and can obtain color information of environmental objects in a single imaging method. The 360° lidar provides omnidirectional distance information but has a single degree of information and low resolution; the panoramic ring camera provides RGB images with high resolution but no distance inf...

AI Technical Summary

Problems solved by technology

360° lidar provides omnidirectional distance information but has a single degree of information and low resolution; panoramic ring camera provides RGB images with high resolution but no distance information

Although the above-mentioned method can realize the joint calibration between the camera and the radar, the above-mentioned patent uses multiple cameras, which need to make the laser radar axis perpendicular to the optical center of the camera, and also turn to exactly the same angle, which is complex and difficult to operate. Problems of application in practice

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