Online joint calibration method for laser radar, binocular camera and inertial navigation
A lidar, binocular camera technology, applied in navigation, mapping and navigation, electromagnetic wave re-radiation and other directions, can solve problems such as sensor offset, and achieve the effect of improving convenience and robustness
Pending Publication Date: 2021-11-30
NANJING UNIV OF POSTS & TELECOMM
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Problems solved by technology
In the current multi-sensor joint calibration algorithm, most methods use offline manual calibration, which requires a calibration board to operate, or just fusion between two sensors, and does not involve data fusion and calibration of three or more sensors
However, in practical applications, robots or unmanned vehicles often need to carry a variety of sensors for environmental observation, and these sensors often shift over time due to mechanical vibration or damage, so it is very important to develop a multi-sensor online automatic calibration algorithm. meaningful
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[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0042] Such as figure 1 As shown, Embodiment 1 of the present invention provides an online joint calibration method of laser radar, binocular camera and inertial navigation, the method comprising the following steps:
[0043] Build a hardware platform for lidar, binocular camera and inertial navigation;
[0044] Obtain the raw data of lidar, binocular camera and inertial navigation in real time, and pre-integrate the inertial navigation data to initialize the...
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The invention discloses an online joint calibration method for a laser radar, a binocular camera and inertial navigation. The online joint calibration method comprises the following steps of constructing a camera-inertial navigation data pair and a laser radar-inertial navigation data pair, according to the information of the camera-inertial navigation data pair and the laser radar-inertial navigation data pair, calculating the optimal external parameters of the monocular camera and inertial navigation and the laser radar and inertial navigation by a nonlinear optimization method, by taking the timestamp of the inertial navigation data as a reference, aligning the timestamps of the laser radar data and the image data, projecting linear features in the original data of the laser radar to an image two-dimensional plane of the nearest timestamp, constructing a laser radar-camera data pair, and calculating external parameters between the laser radar and the monocular camera, unifying coordinate systems of linear features in the data of the two monocular cameras to a world coordinate system, constructing a camera-camera data pair, performing registration, and calculating external parameters between the two monocular cameras, and globally optimizing each external parameter, and continuously iteratively updating until a global error threshold value is reached.
Description
technical field [0001] The invention relates to the technical field of multi-sensor joint calibration, in particular to an online joint calibration method of laser radar, binocular camera and inertial navigation. Background technique [0002] Multi-sensor joint calibration technology is an important difficulty in the fields of robotics and unmanned driving. In the current multi-sensor joint calibration algorithm, most methods use offline manual calibration, which requires a calibration board to operate, or just fusion between two sensors, and does not involve data fusion and calibration of three or more sensors. However, in practical applications, robots or unmanned vehicles often need to carry a variety of sensors for environmental observation, and these sensors often shift over time due to mechanical vibration or damage, so it is very important to develop a multi-sensor online automatic calibration algorithm. meaningful. Contents of the invention [0003] The purpose o...
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IPC IPC(8): G01S17/93G01S17/86G01S13/93G01S13/86G01C21/16G06T7/80
CPCG01S17/93G01S17/86G01S13/93G01S13/865G01S13/867G01C21/165G06T7/80G06T2207/10004Y02T10/40
Inventor 肖建江斌章佳琪梅青黄丽刘心维
Owner NANJING UNIV OF POSTS & TELECOMM