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Sensor calibration method and device, electronic equipment and storage medium

A calibration method and sensor coordinate system technology, applied in instruments, radio wave measurement systems, etc., can solve problems such as inaccurate sensor calibration results, and achieve the effect of improving calibration accuracy

Pending Publication Date: 2022-02-18
BEIJING WANJI TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, the calibration results of the sensor obtained by the above method are not accurate

Method used

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  • Sensor calibration method and device, electronic equipment and storage medium
  • Sensor calibration method and device, electronic equipment and storage medium
  • Sensor calibration method and device, electronic equipment and storage medium

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Embodiment Construction

[0067] In order to make the purpose, technical solution and advantages of the present application clearer, the present application 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 application, and are not intended to limit the present application.

[0068] The calibration method of the sensor provided by this application can be applied to such as figure 1 shown in the application environment. Wherein, the electronic device 100 is connected with the first sensor 200 and the second sensor 300, and is used to obtain the target calibration matrix of the first sensor 200 and the second sensor 300. The types of the above-mentioned first sensor 200 and the second sensor 300 can be but not limited to It is camera, laser radar, millimeter wave radar, etc. The above-mentioned electronic device 100 may be set in the above-ment...

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Abstract

The invention relates to a sensor calibration method and device, electronic equipment and a storage medium. The electronic equipment obtains first scanning data and second scanning data which are obtained by scanning a same scene through a first sensor and a second sensor and comprise a target object moving in a calibration scene; then, a moving track corresponding to the first scanning data and a moving track corresponding to the second scanning data under a same coordinate system are respectively acquired, and iterative optimization processing is carried out on an initial calibration matrix by using a calibration error between the moving track corresponding to the first scanning data and the moving track corresponding to the second scanning data; and under the condition that the calibration error is less than a preset threshold value, the initial calibration matrix in the current iteration is determined as a target calibration matrix. By adopting the method, the accuracy of sensor calibration can be improved.

Description

technical field [0001] The present application relates to the technical field of sensors, in particular to a sensor calibration method, device, electronic equipment and storage medium. Background technique [0002] At present, roadside roadside equipment systems are generally equipped with multiple sensors to collect multiple sets of data on the current road at the same time. For example, the above-mentioned roadside roadside equipment system can be equipped with a laser radar and a millimeter-wave radar, which can comprehensively capture the shape, outline, behavior, posture and other information of the target object. However, in order to obtain the above advantages, the calibration between different sensors is an important prerequisite. The staff need to obtain accurate relative pose parameters between multiple sensors to calibrate different sensors, so that the data collected by each sensor can be consistent. Accurately unified to the same coordinate system. [0003] In...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/40G01S7/497
CPCG01S7/40G01S7/497
Inventor 刘建超王邓江马冰邓永强
Owner BEIJING WANJI TECH