Multi-source sensor joint calibration method based on three-dimensional regular octagonal structure

Abstract

The invention discloses a multi-source sensor joint calibration method based on a three-dimensional regular octagonal structure. The method comprises the steps of calibrating internal parameters of acamera; constructing a three-dimensional laser point cloud model; correcting the three-dimensional laser point cloud based on inertial data; optimizing a laser jitter error superposition mean value; optimizing the laser stepping angle error increment; and constructing a multi-line-segment joint external parameter calibration model, and solving an external parameter optimal solution through a nonlinear method. The method can effectively improve the joint calibration precision and the data fusion effect of the multi-source sensor in a complex agriculture and forestry environment.

Description

technical field

[0001] The invention relates to the field of multi-sensor data fusion, in particular to a joint calibration method for multi-source data in complex agricultural and forestry environments. Background technique

[0002] In the development of modern agriculture and forestry, the trend of joint application of multi-source data is very obvious. Compared with visible light imaging, the laser scanning field of view is relatively large, but the point cloud density is relatively sparse, and there is more noise; while the thermal infrared imager can image in dark conditions, but the field of view is relatively small, and can only display In the small area of ​​the whole scene, the comprehensive use of these different source data can learn from each other and improve the scanning detection ability and target segmentation and recognition ability of agricultural and forestry mobile devices. But this requires multi-sensor data preprocessing and coordinate joint calibrat...

Examples

Embodiment Construction

[0071] Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0072] attached figure 1 A schematic diagram of a principle of a multi-source sensor joint calibration method based on a stereo regular octagon structure according to an exemplary embodiment is shown.

[0073] as attached figure 2 As shown, the multi-source sensor joint calibration method based on the three-dimensional regular octagon structure of the exemplary embodiment includes the following steps:

[0074] Step 1, camera internal pa...

technical field

[0001] The invention relates to the field of multi-sensor data fusion, in particular to a joint calibration method for multi-source data in complex agricultural and forestry environments. Background technique

[0002] In the development of modern agriculture and forestry, the trend of joint application of multi-source data is very obvious. Compared with visible light imaging, the laser scanning field of view is relatively large, but the point cloud density is relatively sparse, and there is more noise; while the thermal infrared imager can image in dark conditions, but the field of view is relatively small, and can only display In the small area of ​​the whole scene, the comprehensive use of these different source data can learn from each other and improve the scanning detection ability and target segmentation and recognition ability of agricultural and forestry mobile devices. But this requires multi-sensor data preprocessing and coordinate joint calibrat...

Examples

Embodiment Construction

[0071] Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0072] attached figure 1 A schematic diagram of a principle of a multi-source sensor joint calibration method based on a stereo regular octagon structure according to an exemplary embodiment is shown.

[0073] as attached figure 2 As shown, the multi-source sensor joint calibration method based on the three-dimensional regular octagon structure of the exemplary embodiment includes the following steps:

[0074] Step 1, camera internal pa...

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