Laser radar and camera joint calibration method and device, server and computer readable storage medium

Abstract

The invention relates to a laser radar and camera joint calibration method and device, a server and a computer readable storage medium, and the method comprises the steps: obtaining an image and laser point cloud data, and mapping a point cloud corresponding to the laser point cloud data to the image according to an internal reference matrix of a camera and an initial joint calibration parameter of a laser radar relative to the camera, thereby obtaining a mapping point cloud; calculating the overlapping area of the same target between a point cloud target frame and an image recognition target frame on the image, the point cloud target frame being a target frame drawn on the image based on the mapping point cloud, and the image recognition target frame being a target frame obtained by marking the image; and adjusting the initial joint calibration parameter based on the overlapping area, and outputting the adjusted joint calibration parameter as a target joint calibration parameter of the laser radar relative to the camera. Self-calibration is carried out through the laser radar and the camera, a calibration object does not need to be used, waste of manpower and material resources is avoided, and the reusability of the joint calibration method is improved without using the calibration object.

Description

technical field [0001] The present application relates to the technical field of camera calibration, in particular to a laser radar and camera joint calibration method and device, a server, and a computer-readable storage medium. Background technique [0002] With the continuous development of automatic driving or unmanned driving technology, automatic driving or unmanned driving will gradually enter people's daily life and bring convenience to people's life. Among them, the core problem faced by automatic driving or unmanned driving technology is: the vehicle's visual perception ability is insufficient, and it cannot form a comprehensive perception of the overall road traffic environment, so that the driving safety of the vehicle cannot be fully guaranteed. [0003] In recent years, there have been solutions to improve the visual perception of vehicles by using lidar and cameras together. However, when using traditional methods to calibrate lidar and cameras, it is necessar...

AI Technical Summary

Problems solved by technology

Among them, the core problem faced by automatic driving or unmanned driving technology is: the vehicle's visual perception ability is insufficient, and it is impossible to form a comprehensive perception of the overall road traffic environment, so that the driving safety of the vehicle cannot be fully guaranteed

[0003] In recent years, there have been solutions to improve the visual perception of vehicles by using lidar and cameras together. However, when using traditional methods to calibrate lidar and cameras, it is necessary to calibrate based on calibration objects, which wastes manpower and material resources, and can be Reusability is not strong

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