Multi-sensor joint calibration method and device, storage medium and program product

A joint calibration, multi-sensor technology, used in instruments, image analysis, calculations, etc., can solve the problems of long calibration cycle and low calibration efficiency of the whole vehicle, and achieve the effect of improving calibration efficiency and reducing calibration cycle.

Pending Publication Date: 2022-06-03
ECARX (HUBEI) TECHCO LTD
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Problems solved by technology

[0004] However, in the process of implementing the present application, the inventors found that there are at least the following problems in the prior art: when there are multiple sensors in the vehicle, the two-by-two calibration method makes the calibration period of the whole vehicle too long and the calibration efficiency is low

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  • Multi-sensor joint calibration method and device, storage medium and program product
  • Multi-sensor joint calibration method and device, storage medium and program product
  • Multi-sensor joint calibration method and device, storage medium and program product

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[0076] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of this application.

[0077] Autonomous driving technology is a technology that relies on the fusion of multiple sensors, such as multiple cameras, multiple lidars, and inertial navigation. Cameras can provide semantic planar scene information, lidar can generate three-dimensional structures around the sensor, and inertial measurement elements can record information...

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Abstract

The embodiment of the invention provides a multi-sensor joint calibration method and device, a storage medium and a program product, and the method comprises the steps: calibrating each sensor according to a calibration object in a calibration field, obtaining a first pose conversion relation between a sensing coordinate system of the sensor and a world coordinate system of the calibration field, according to the first pose conversion relations corresponding to the sensors, second pose conversion relations between every two sensing coordinate systems of the sensors are calculated, and a calibration result is determined according to the multiple second pose conversion relations. According to the embodiment of the invention, each sensor is calibrated through the calibration object in the calibration field, the conversion relation between the sensor coordinate of each sensor and the world coordinate system of the calibration field is obtained, the conversion relation between every two sensors can be rapidly obtained on the basis, the whole vehicle calibration is completed, and the calibration efficiency is improved. The calibration period of whole vehicle calibration can be greatly shortened, and the calibration efficiency is improved.

Description

technical field [0001] The embodiments of the present application relate to the technical field of automatic driving, and in particular, to a multi-sensor joint calibration method, device, storage medium, and program product. Background technique [0002] Autonomous driving technology is a technology that relies on the fusion of multiple sensors. Self-driving vehicles are equipped with cameras and lidars from different angles to provide vehicles with richer environmental perception information, and information fusion between sensors can output more robust perception and positioning results. The accuracy of multi-sensor joint calibration is an important prerequisite for information fusion between sensors. [0003] In the prior art, the sensor is usually calibrated in pairs, which can simultaneously collect information on the calibration objects in the common viewing area based on the two sensors, and then perform external parameter calculation according to the collected info...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/497G06T7/80
CPCG01S7/497G06T7/80
Inventor 黄毅方浩贾晨晨金砺耀林宝尉李正宁
Owner ECARX (HUBEI) TECHCO LTD
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