Camera-millimeter wave radar-laser radar combined calibration method and device
A technology of millimeter-wave radar and laser radar, applied in radio wave measurement systems, image analysis, instruments, etc., can solve problems such as the need to improve efficiency and the complicated calibration process
Active Publication Date: 2022-07-29
AUTOMOTIVE INTELLIGENCE & CONTROL OF CHINA CO LTD
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[0004] However, in this way, the calibration process is more complicated, and the efficiency needs to be improved
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[0034] At present, in smart transportation or vehicle-road collaboration, roadside equipment generally uses cameras and radars for sensing target detection and fusion output. At present, the commonly used calibration method for cameras is Zhang Zhengyou's calibration method, while radars mostly use highly reflective angles. In the reverse calibration, the radar and the camera are often jointly calibrated in the form of a calibration plate. The result of the joint calibration is to obtain the rotation parameters and translation parameters of the radar relative to the camera.
[0035] However, in the prior art, camera extrinsic parameter calibration relies on parallel lane lines, lane lines must not be curved, and the requirements for the road surface are harsh. Radar extrinsic parameter calibration relies on angular inversion, which has strict testing requirements. The joint calibration of camera and radar adopts the calibration board method. , For roadside equipment with a gene...
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The invention provides a camera-millimeter wave radar-laser radar combined calibration method and device, and relates to a multi-sensor combined calibration technology, and the method comprises the steps: obtaining the parameters of a camera, the parameters of a millimeter wave radar, and the parameters of a laser radar; obtaining the coordinate of the camera in the world coordinate system, the coordinate of the millimeter wave radar, the coordinate of the laser radar and the coordinate of the target angular point; generating a virtual camera, a virtual millimeter wave radar, a virtual laser radar and a virtual target angular point; adjusting the angle of the virtual camera, the angle of the virtual millimeter wave radar and the angle of the virtual laser radar, and obtaining an image, first point cloud information and second point cloud information by using the adjusted angles; and determining a calibration result according to the image, the first point cloud information, the second point cloud information and the target angular point coordinate. The installation angles of a plurality of sensors are obtained in a simulation mode, and a calibration result is obtained by using the angles. The angle can be used for guiding installation. Calibration is simple, and calibration efficiency can be improved to a certain extent.
Description
technical field [0001] The present disclosure relates to a multi-sensor joint calibration technology, in particular to a camera-millimeter-wave radar-lidar joint calibration method and device. Background technique [0002] At present, in smart transportation or vehicle-road collaboration, roadside equipment generally uses cameras and radars for sensing target detection and fusion output. Therefore, it is necessary to jointly calibrate the camera and the radar, and the result of the joint calibration is to obtain the rotation and translation matrices of the radar relative to the camera. [0003] In the prior art, the radar and the camera are often jointly calibrated in the form of a calibration plate. [0004] However, in this way, the calibration process is more complicated, and the efficiency needs to be improved. SUMMARY OF THE INVENTION [0005] The present disclosure provides a camera-millimeter wave radar-laser radar joint calibration method and device, the calibrat...
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Login to View More IPC IPC(8): G01S7/40G01S7/497G06T7/80
CPCG01S7/40G01S7/497G06T7/80
Inventor 冯际彬
Owner AUTOMOTIVE INTELLIGENCE & CONTROL OF CHINA CO LTD