Method and system for calibrating transformational relationship between two roadside sensors

Abstract

The invention discloses a method and a system for calibrating a conversion relation between two roadside sensors, and relates to the technical field of roadside sensor calibration, and the method comprises the steps: carrying out the time alignment of a first preset roadside sensor and a second preset roadside sensor; monitoring at the same moment to obtain the position coordinates of each preset target in the corresponding coordinate system; when the number of the preset targets is greater than 4, calculating a current homographic transformation matrix according to all the currently obtained position coordinates, and converting the position coordinates obtained by using a second preset roadside sensor into a coordinate system used by a first preset roadside sensor, and calculating an error distance between the conversion position coordinate of each preset target and the position coordinate obtained by using the first preset roadside sensor, judging whether the error distance is smaller than a preset error distance threshold, and if so, determining the current homography transformation matrix as a final homography transformation matrix. According to the method, the more accurate homographic transformation matrix can be obtained.

Description

Background Art

[0002] Roadside sensors are used to detect information about traffic participants on the road. The sensors need to provide accurate location information of traffic participants and are an important part of vehicle-road collaboration and digital twin systems. The current technical solutions for calibrating different roadside sensors are as follows:

[0003] 1) In the invention patent with the publication number of "CN111383285A" and the subject name of "A calibration method and system based on millimeter-wave radar and camera sensor fusion", it is necessary to use artificial calibration objects for calibration, such as engineers holding corner reflectors and walking in straight lines in different areas of the scene. There is a certain risk for engineers to collect data at urban intersections or highways. If the road closure needs to be applied to the traffic control department, it will not only affect normal traffic, but also require the application for road closure again to replace the roadside sensor, which is very inefficient.

[0004] 2) The invention patent with publication number "CN112558023A" and subject name "Sensor calibration method and device" proposes a method that does not require road closures. Specifically, a mapping relationship between sensors is established through high-precision maps, but there are often no high-precision maps for reference on actual roads.

[0005] 3) The invention patent with publication number "CN112836737A" and subject name "A method for online calibration of roadside combined perception equipment based on vehicle-road data fusion", as well as the invention patent with publication number "WO2022206978A1" and subject name "A method for roadside millimeter-wave radar calibration based on vehicle-mounted positioning device" both proposed a technical solution for calculating the sensor mapping relationship by providing calibration target data through a vehicle-mounted high-precision positioning device, but it requires relatively expensive professional equipment to record and feedback data in real time, and also requires the vehicle equipped with the positioning device to drive multiple times within the detection range to complete the calibration. Summary of the invention

[0006] The technical problem to be solved by the present invention is to address the deficiencies of the prior art and specifically provide a method and system for calibrating the conversion relationship between two roadside sensors, as follows:

[0007] 1) In a first aspect, the present invention provides a method for calibrating a conversion relationship between two roadside sensors, and the specific technical solution is as follows:

[0008] S1, after time alignment of a first preset roadside sensor and a second preset roadside sensor, using the first preset roadside sensor and the second preset roadside sensor to monitor and obtain the position coordinates of each preset target in a corresponding coordinate system at the same time;

[0009] S2. Determine whether the number of preset targets is less than 4, and obtain a first determination result;

[0010] S3. When the first judgment result is no, calculating the current homography transformation matrix according to all the currently obtained position coordinates;

[0011] S4. According to the current homography transformation matrix, the position coordinates obtained by using the second preset roadside sensor are transformed into the coordinate system used by the first preset roadside sensor to obtain the transformed position coordinates of each preset target;

[0012] S5, calculating the error distance between the converted position coordinates of each preset target and the position coordinates obtained by using the first preset roadside sensor, and determining whether the error distance is less than a preset error distance threshold, to obtain a second determination result;

[0013] S6. When the second judgment result is yes, determine the current homography transformation matrix as the final homography transformation matrix.

[0014] The beneficial effects of a method for calibrating a conversion relationship between two roadside sensors provided by the present invention are as follows:

[0015] The position coordinates of the target obtained by any roadside sensor are the coordinates of the coordinate system used by the roadside sensor. In practical applications, the position coordinates of the targets obtained by different roadside sensors need to be converted. Since the conversion between the position coordinates of the targets obtained by any two roadside sensors needs to be completed through the homography transformation matrix corresponding to the two roadside sensors, the accuracy of the homography transformation matrix determines whether the conversion of the position coordinates is accurate. The present invention can obtain a more accurate homography transformation matrix based on distance judgment, and the acquisition process of the homography transformation matrix is ​​simpler and low-cost than the prior art (for example: the invention patent with publication number "CN112836737A" and the subject name "A roadside combined perception device online calibration method based on vehicle-road data fusion", and the invention patent with publication number "WO2022206978A1" and the subject name "A roadside millimeter-wave radar calibration method based on a vehicle-mounted positioning device"). Through the final homography transformation matrix, the accurate conversion of position coordinates in different coordinate systems (coordinate systems used by different roadside sensors) can be achieved.

[0016] On the basis of the above solution, a method for calibrating the conversion relationship between two roadside sensors of the present invention can be further improved as follows.

[0017] Furthermore, it also includes:

[0018] When the second judgment result is no, the first preset roadside sensor and the second preset roadside sensor are used to monitor and obtain the position coordinates of each preset target in the corresponding coordinate system at another same time, and then return to execute S2 until the second judgment result is yes.

[0019] Furthermore, it also includes:

[0020] When the first judgment result is yes, the first preset roadside sensor and the second preset roadside sensor are used to monitor and obtain the position coordinates of each preset target in the corresponding coordinate system at another same time, and then return to execute S2 until the first judgment result is no.

[0021] Further, the first preset roadside sensor is a camera device, and the second preset roadside sensor is a radar, or the first preset roadside sensor is a radar, and the second preset roadside sensor is a camera device.

[0022] 2) In a second aspect, the present invention further provides a system for calibrating a conversion relationship between two roadside sensors, and the specific technical solution is as follows:

[0023] It includes a position coordinate acquisition module, a first judgment module, a homography transformation matrix calculation module, a conversion position coordinate calculation module, a second judgment module and a determination module;

[0024] The position coordinate acquisition module is used to: after time alignment of the first preset roadside sensor and the second preset roadside sensor, use the first preset roadside sensor and the second preset roadside sensor to monitor and obtain the position coordinates of each preset target in the corresponding coordinate system at the same time;

[0025] The first judgment module is used to: judge whether the number of preset targets is less than 4, and obtain a first judgment result;

[0026] The homography transformation matrix calculation module is used to: when the first judgment result is no, calculate the current homography transformation matrix according to all the currently obtained position coordinates;

[0027] The conversion position coordinate calculation module is used to: convert the position coordinates obtained by using the second preset roadside sensor into the coordinate system used by the first preset roadside sensor according to the current homography transformation matrix, so as to obtain the conversion position coordinates of each preset target;

[0028] The second judgment module is used to: calculate the error distance between the converted position coordinates of each preset target and the position coordinates obtained by using the first preset roadside sensor, and judge whether the error distance is less than a preset error distance threshold to obtain a second judgment result;

[0029] The determination module is used to: when the second judgment result is yes, determine the current homography transformation matrix as the final homography transformation matrix.

[0030] On the basis of the above solution, the system for calibrating the conversion relationship between two roadside sensors of the present invention can also be improved as follows.

[0031] Furthermore, it also includes a calling module, which is used to: when the second judgment result is no, call the position coordinate acquisition module, use the first preset roadside sensor and the second preset roadside sensor to monitor and obtain the position coordinates of each preset target in the corresponding coordinate system at another same time, and then call the first judgment module, the homography transformation matrix calculation module, the conversion position coordinate calculation module and the second judgment module until the second judgment result is yes.

[0032] Furthermore, the calling module is also used for:

[0033] When the first judgment result is yes, the position coordinate acquisition module is called, and the first preset roadside sensor and the second preset roadside sensor are used to monitor and obtain the position coordinates of each preset target in the corresponding coordinate system at another same time, and then the first judgment module is called until the first judgment result is no.

[0034] Further, the first preset roadside sensor is a camera device, and the second preset roadside sensor is a radar, or the first preset roadside sensor is a radar, and the second preset roadside sensor is a camera device.

[0035] 3) In a third aspect, the present invention further provides an electronic device, comprising a processor, wherein the processor is coupled to a memory, wherein at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements any one of the above-mentioned methods for calibrating the conversion relationship between two roadside sensors.

[0036] 4) In a fourth aspect, the present invention also provides a computer-readable storage medium, in which at least one computer program is stored. The at least one computer program is loaded and executed by a processor so that a computer implements any one of the above-mentioned methods for calibrating the conversion relationship between two roadside sensors.

[0037] It should be noted that the beneficial effects achieved by the technical solutions of the second to fourth aspects of the present invention and the corresponding possible implementation methods can be found in the above-mentioned technical effects of the first aspect and its corresponding possible implementation methods, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0039] Figure 1 A schematic flow chart of a method for calibrating a conversion relationship between two roadside sensors according to an embodiment of the present invention;

[0040] Figure 2 A schematic diagram of the structure of a system for calibrating a conversion relationship between two roadside sensors according to an embodiment of the present invention;

[0041] Figure 3 The figure is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0043] like Figure 1 As shown, a method for calibrating a conversion relationship between two roadside sensors according to an embodiment of the present invention includes the following steps:

[0044] S1, after time alignment of a first preset roadside sensor and a second preset roadside sensor, using the first preset roadside sensor and the second preset roadside sensor to monitor and obtain the position coordinates of each preset target in a corresponding coordinate system at the same time;

[0045] The area for target tracking using the first preset roadside sensor and the second preset roadside sensor may be set according to actual conditions, such as a designated road area.

[0046] Among them, the position coordinates of the target obtained by the first preset roadside sensor are the coordinates in the coordinate system used by the first preset roadside sensor, and the position coordinates of the target obtained by the second preset roadside sensor are the coordinates in the coordinate system used by the second preset roadside sensor. The coordinate system used by the first preset roadside sensor can be established according to actual conditions, and the coordinate system used by the second preset roadside sensor can also be established according to actual conditions.

[0047] The preset goals are explained as follows:

[0048] The first preset roadside sensor and the second preset roadside sensor are used to perform target detection on the same area. N targets are monitored by the first preset roadside sensor, and M targets are monitored by the second preset roadside sensor. The same multiple targets can be selected from the N targets and the M targets as preset targets. For example, n preset targets are selected. When N=M, all targets can be used as preset targets. At this time, N=M=n, and N, M and n are all positive integers.

[0049] S2. Determine whether the number of preset targets is less than 4, and obtain a first determination result;

[0050] S3. When the first judgment result is no, calculating the current homography transformation matrix according to all the currently obtained position coordinates;

[0051] In S3, all the currently obtained position coordinates refer to the position coordinates of each preset target in the corresponding coordinate system obtained by monitoring at the same time in S1.

[0052] S4. According to the current homography transformation matrix, the position coordinates obtained by using the second preset roadside sensor are transformed into the coordinate system used by the first preset roadside sensor to obtain the transformed position coordinates of each preset target;

[0053] S5, calculating the error distance between the converted position coordinates of each preset target and the position coordinates obtained by using the first preset roadside sensor, and determining whether the error distance is less than a preset error distance threshold, to obtain a second determination result;

[0054] S6. When the second judgment result is yes, determine the current homography transformation matrix as the final homography transformation matrix.

[0055] The final homography transformation matrix represents the transformation relationship between the first preset roadside sensor and the second preset roadside sensor. Through the final homography transformation matrix, the position coordinates in the coordinate system used by the first preset roadside sensor can be accurately converted to the coordinate system used by the second preset roadside sensor, and the position coordinates in the coordinate system used by the second preset roadside sensor can also be accurately converted to the coordinate system used by the first preset roadside sensor.

[0056] Optionally, in the above technical solution, it also includes:

[0057] S7. When the second judgment result is no, use the first preset roadside sensor and the second preset roadside sensor to monitor and obtain the position coordinates of each preset target in the corresponding coordinate system at another same time, and then return to execute S2 until the second judgment result is yes.

[0058] Optionally, in the above technical solution, it also includes:

[0059] When the first judgment result is yes, the first preset roadside sensor and the second preset roadside sensor are used to monitor and obtain the position coordinates of each preset target in the corresponding coordinate system at another same time, and then return to execute S2 until the first judgment result is no.

[0060] The other same moment refers to a moment other than the same moment in S1, and the duration between the other same moment and the same moment in S1 can be set according to actual conditions.

[0061] Optionally, in the above technical solution, the first preset roadside sensor is a camera device, and the second preset roadside sensor is a radar, or the first preset roadside sensor is a radar, and the second preset roadside sensor is a camera device.

[0062] The imaging device may be a camera, the radar may be a millimeter wave radar, or other radars may be selected according to actual conditions.

[0063] The present invention is illustrated by the following examples.

[0064] In this embodiment, the first preset roadside sensor is a camera device, and the second preset roadside sensor is a radar, specifically including:

[0065] S101, after time alignment of the camera device and the radar, use the camera device and the radar to monitor and obtain the position coordinates of each preset target in the corresponding coordinate system at the same time;

[0066] Both the camera and the radar are installed on the roadside. The monitoring areas of the camera and the radar mostly overlap. Targets such as vehicles or pedestrians generally move along the road. What is detected by the radar are target points, which move evenly. The camera outputs video. Although the target does not move evenly, it often moves from near to far, from large to small, or from far to near, from small to large.

[0067] According to the rules of target entry, exit, movement, disappearance and distribution, the corresponding relationship between targets detected by the camera and radar is found (multiple identical targets detected by the camera and radar). Then the camera and radar are paused, and the targets detected by the radar and the corresponding targets on the image are manually selected (that is, the identical targets detected by the camera and radar are selected).

[0068] All goals can be set as preset goals, or some goals can be selected from all goals as preset goals. They can be set according to actual conditions.

[0069] S102, determining whether the number of preset targets is less than 4, and obtaining a first determination result. When the first determination result is yes, executing S103; when the first determination result is no, executing S104;

[0070] S103, using the camera device and the radar to monitor and obtain the position coordinates of each preset target in the corresponding coordinate system at another same time, and then return to execute S102 until the first judgment result is no;

[0071] S104, calculating the current homography transformation matrix according to all the currently obtained position coordinates;

[0072] The set of position coordinates of each preset target obtained by the camera device is denoted as P V , the set of all position coordinates of each preset target obtained by radar is recorded as P R , when N ≥ 4, based on P V The position coordinates of each preset target and P R The position coordinates of each preset target in are calculated, and the current homography transformation matrix is ​​calculated using the least squares method and RANSAC algorithm, where N represents the number of preset targets.

[0073] S105, according to the current homography transformation matrix, P R The position coordinates of each preset target in the image are converted to the coordinate system used by the camera device (that is, P V The coordinate system where the position coordinates of each preset target are located is obtained, and the set of the converted position coordinates of each preset target is recorded as P T , P T The converted position coordinates of each preset target in are displayed in the image captured by the camera device.

[0074] The process of calculating the conversion position coordinates of each preset target is as follows:

[0075] The coordinate system used by the radar (that is, P R Any position coordinate in the coordinate system where the position coordinates of each preset target are located is marked as: (x ′ ,y ′ ), and (x ′ ,y ′ ) Get (x ′ ,y ′ ) in the coordinate system used by the camera device, i.e., the converted position coordinate (u ′ ,v ′ ) until the transformed position coordinates of each preset target are calculated, where: is the current homography transformation matrix, h 00 、h 01 、h 02 、h 10 、h 11 、h 12 、h 20 、h 21 and h 22 is the element in the current homography transformation matrix, and s represents the coefficient of the homogeneous coordinates.

[0076] S106. Calculate the error distance between the converted position coordinates of each preset target and the position coordinates obtained by using the camera device, and determine whether the error distance is less than a preset error distance threshold to obtain a second judgment result. When the second judgment is yes, execute S107. When the second judgment is yes, execute S108.

[0077] The error distance between the converted position coordinates of each preset target and the position coordinates obtained by the camera device is calculated, and the specific implementation method is as follows:

[0078] The distance error is calculated using the distance error calculation formula. The distance error calculation formula is:

[0079]

[0080] Among them, dist means: distance error, Indicates: P T The transformed position coordinates of the i-th preset target in, Indicates: P V The transformed position coordinates of the i-th preset target in, and Corresponding to the same preset target, that is, P T The i-th preset target and P V The i-th preset target in is the same target, i is a positive integer, i=1,2,3…N.

[0081] The preset error distance threshold can be set according to actual conditions.

[0082] S107, determining the current homography transformation matrix as the final homography transformation matrix, at this time, using the time-aligned camera device and radar pair to track the target, the position coordinates of the same target monitored at any same time in the corresponding coordinate system satisfy: Among them, the position coordinates in the coordinate system used by the camera device are (u, v), the position coordinates in the coordinate system used by the radar are (x, y), and (u, v) and (x, y) are: the position coordinates of the same target monitored by the camera device and radar after time alignment at any same time.

[0083] S108, using the camera device and the radar, monitor and obtain the position coordinates of each preset target in the corresponding coordinate system at another same time, and then return to execute S102 until the second judgment result is yes.

[0084] The distance between the converted position coordinates of each preset target and the position coordinates obtained by the camera device can also be determined by manual experience. If the distances are both short, S107 is executed. If one of the distances is far, the process returns to S102.

[0085] The beneficial effects of the present invention are as follows:

[0086] The position coordinates of the target obtained by any roadside sensor are the coordinates of the coordinate system used by the roadside sensor. In practical applications, the position coordinates of the targets obtained by different roadside sensors need to be converted. Since the conversion between the position coordinates of the targets obtained by any two roadside sensors needs to be completed through the homography transformation matrix corresponding to the two roadside sensors, the accuracy of the homography transformation matrix determines whether the conversion of the position coordinates is accurate. The present invention can obtain a more accurate homography transformation matrix based on the judgment of the distance, and the acquisition process of the homography transformation matrix is ​​simpler and low-cost than the prior art (for example: the invention patent with publication number "CN112836737A" and the subject name "A roadside combined perception device online calibration method based on vehicle-road data fusion", and the invention patent with publication number "WO2022206978A1" and the subject name "A roadside millimeter-wave radar calibration method based on a vehicle-mounted positioning device"). Through the homography transformation matrix, the accurate conversion of position coordinates in different coordinate systems (coordinate systems used by different roadside sensors) can be achieved.

[0087] In the above embodiments, although the steps are numbered S1, S2, etc., these are only specific embodiments given by the present invention. Those skilled in the art may adjust the execution order of S1, S2, etc. according to actual conditions, which is also within the protection scope of the present invention. It can be understood that in some embodiments, some or all of the above embodiments may be included.

[0088] like Figure 2 As shown, a system 200 for calibrating a conversion relationship between two roadside sensors according to an embodiment of the present invention includes a position coordinate acquisition module 201, a first judgment module 202, a homography transformation matrix calculation module 203, a conversion position coordinate calculation module 204, a second judgment module 205 and a determination module 206;

[0089] The position coordinate acquisition module 201 is used to: after time alignment of the first preset roadside sensor and the second preset roadside sensor, use the first preset roadside sensor and the second preset roadside sensor to monitor and obtain the position coordinates of each preset target in the corresponding coordinate system at the same time;

[0090] The first judgment module 202 is used to: judge whether the number of preset targets is less than 4, and obtain a first judgment result;

[0091] The homography transformation matrix calculation module 203 is used to: when the first judgment result is no, calculate the current homography transformation matrix according to all the position coordinates currently obtained;

[0092] The converted position coordinate calculation module 204 is used to: convert the position coordinates obtained by using the second preset roadside sensor into the coordinate system used by the first preset roadside sensor according to the current homography transformation matrix, so as to obtain the converted position coordinates of each preset target;

[0093] The second judgment module 205 is used to: calculate the error distance between the converted position coordinates of each preset target and the position coordinates obtained by using the first preset roadside sensor, and judge whether the error distance is less than a preset error distance threshold to obtain a second judgment result;

[0094] The determination module 206 is configured to: when the second judgment result is yes, determine the current homography transformation matrix as the final homography transformation matrix.

[0095] Optionally, the above technical solution also includes a calling module, which is used to: when the second judgment result is no, call the position coordinate acquisition module 201, use the first preset roadside sensor and the second preset roadside sensor to monitor and obtain the position coordinates of each preset target in the corresponding coordinate system at another same time, and then call the first judgment module 202, the homography transformation matrix calculation module 203, the conversion position coordinate calculation module 204 and the second judgment module 205 until the second judgment result is yes.

[0096] Optionally, in the above technical solution, the calling module is also used to:

[0097] When the first judgment result is yes, the position coordinate acquisition module 201 is called, and the first preset roadside sensor and the second preset roadside sensor are used to monitor and obtain the position coordinates of each preset target in the corresponding coordinate system at another same time, and then the first judgment module 202 is called until the first judgment result is no.

[0098] Optionally, in the above technical solution, the first preset roadside sensor is a camera device, and the second preset roadside sensor is a radar, or the first preset roadside sensor is a radar, and the second preset roadside sensor is a camera device.

[0099] It should be noted that the beneficial effects of the system 200 for calibrating the conversion relationship between two roadside sensors provided by the above embodiment are the same as the beneficial effects of the method for calibrating the conversion relationship between two roadside sensors, which will not be repeated here. In addition, when the system provided by the above embodiment realizes its functions, it only takes the division of the above functional modules as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to actual conditions to complete all or part of the functions described above. In addition, the system and method embodiments provided by the above embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0100] like Figure 3 As shown, the electronic device 300 of the embodiment of the present invention includes a processor 320, the processor 320 is coupled to a memory 310, and the memory 310 stores at least one computer program 330, and the at least one computer program 330 is loaded and executed by the processor 320, so that the electronic device 300 implements any one of the above methods for calibrating the conversion relationship between two roadside sensors, specifically:

[0101] The electronic device 300 may have relatively large differences due to different configurations or performances, and may include one or more processors 320 (Central Processing Units, CPU) and one or more memories 310, wherein the one or more memories 310 store at least one computer program 330, and the at least one computer program 330 is loaded and executed by the one or more processors 320, so that the electronic device 300 implements any one of the methods for calibrating the conversion relationship between two roadside sensors provided in the above embodiments. Of course, the electronic device 300 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output. The electronic device 300 may also include other components for realizing the functions of the device, which will not be described in detail here. The electronic device may specifically be a computer, etc.

[0102] The computer-readable storage medium of an embodiment of the present invention stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that the computer implements any of the above-mentioned methods for calibrating the conversion relationship between two roadside sensors.

[0103] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0104] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes any of the above methods for calibrating the conversion relationship between two roadside sensors.

[0105] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0106] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present invention can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0107] Any combination of one or more computer-readable media can be used. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0108] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for calibrating a conversion relationship between two roadside sensors, characterized in that: include: S1, after time alignment of a first preset roadside sensor and a second preset roadside sensor, using the first preset roadside sensor and the second preset roadside sensor to monitor and obtain the position coordinates of each preset target in a corresponding coordinate system at the same time; S2. Determine whether the number of preset targets is less than 4, and obtain a first determination result; S3. When the first judgment result is no, calculating the current homography transformation matrix according to all the currently obtained position coordinates; S4. According to the current homography transformation matrix, the position coordinates obtained by using the second preset roadside sensor are transformed into the coordinate system used by the first preset roadside sensor to obtain the transformed position coordinates of each preset target; S5, calculating the error distance between the converted position coordinates of each preset target and the position coordinates obtained by using the first preset roadside sensor, and determining whether the error distance is less than a preset error distance threshold, to obtain a second determination result; S6. When the second judgment result is yes, determine the current homography transformation matrix as the final homography transformation matrix.

2. A method for calibrating a conversion relationship between two roadside sensors according to claim 1, characterized in that: Also includes: When the second judgment result is no, the first preset roadside sensor and the second preset roadside sensor are used to monitor and obtain the position coordinates of each preset target in the corresponding coordinate system at another same time, and then return to execute S2 until the second judgment result is yes.

3. A method for calibrating the conversion relationship between two roadside sensors according to claim 2, characterized in that: Also includes: When the first judgment result is yes, the first preset roadside sensor and the second preset roadside sensor are used to monitor and obtain the position coordinates of each preset target in the corresponding coordinate system at another same time, and then return to execute S2 until the first judgment result is no.

4. A method for calibrating a conversion relationship between two roadside sensors according to any one of claims 1 to 3, characterized in that: The first preset roadside sensor is a camera device, and the second preset roadside sensor is a radar, or the first preset roadside sensor is a radar, and the second preset roadside sensor is a camera device.

5. A system for calibrating the conversion relationship between two roadside sensors, characterized in that: It includes a position coordinate acquisition module, a first judgment module, a homography transformation matrix calculation module, a conversion position coordinate calculation module, a second judgment module and a determination module; The position coordinate acquisition module is used to: after time alignment of the first preset roadside sensor and the second preset roadside sensor, use the first preset roadside sensor and the second preset roadside sensor to monitor and obtain the position coordinates of each preset target in the corresponding coordinate system at the same time; The first judgment module is used to: judge whether the number of preset targets is less than 4, and obtain a first judgment result; The homography transformation matrix calculation module is used to: when the first judgment result is no, calculate the current homography transformation matrix according to all the currently obtained position coordinates; The conversion position coordinate calculation module is used to: convert the position coordinates obtained by using the second preset roadside sensor into the coordinate system used by the first preset roadside sensor according to the current homography transformation matrix, so as to obtain the conversion position coordinates of each preset target; The second judgment module is used to: calculate the error distance between the converted position coordinates of each preset target and the position coordinates obtained by using the first preset roadside sensor, and judge whether the error distance is less than a preset error distance threshold to obtain a second judgment result; The determination module is used to: when the second judgment result is yes, determine the current homography transformation matrix as the final homography transformation matrix.

6. A system for calibrating the conversion relationship between two roadside sensors according to claim 5, characterized in that: It also includes a calling module, which is used to: when the second judgment result is no, call the position coordinate acquisition module, use the first preset roadside sensor and the second preset roadside sensor to monitor and obtain the position coordinates of each preset target in the corresponding coordinate system at another same time, and then call the first judgment module, the homography transformation matrix calculation module, the conversion position coordinate calculation module and the second judgment module until the second judgment result is yes.

7. A system for calibrating the conversion relationship between two roadside sensors according to claim 6, characterized in that: The calling module is also used for: When the first judgment result is yes, the position coordinate acquisition module is called, and the first preset roadside sensor and the second preset roadside sensor are used to monitor and obtain the position coordinates of each preset target in the corresponding coordinate system at another same time, and then the first judgment module is called until the first judgment result is no.

8. A system for calibrating the conversion relationship between two roadside sensors according to any one of claims 5 to 7, characterized in that: The first preset roadside sensor is a camera device, and the second preset roadside sensor is a radar, or the first preset roadside sensor is a radar, and the second preset roadside sensor is a camera device.

9. An electronic device, characterized in that The electronic device includes a processor, the processor is coupled to a memory, and at least one computer program is stored in the memory. The at least one computer program is loaded and executed by the processor so that the electronic device implements a method for calibrating the conversion relationship between two roadside sensors as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by the processor so that the computer implements a method for calibrating a conversion relationship between two roadside sensors as described in any one of claims 1 to 4.

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