Multi-sensor calibration system and multi-sensor external parameter calibration method

Abstract

The invention provides a multi-sensor calibration system, a multi-sensor external parameter calibration method, electronic equipment and a readable storage medium, and relates to the technical field of artificial intelligence such as automatic driving and intelligent transportation. The multi-sensor calibration system comprises an open calibration room, a corner reflector assembly, an automobile rotating table and an automobile model assembly, wherein the automobile model assembly comprises a camera to be calibrated, a laser radar to be calibrated, a millimeter wave radar to be calibrated and an inertial measurement unit. The multi-sensor external parameter calibration method comprises the following steps: acquiring a motion state of an automobile rotating table in the multi-sensor calibration system, wherein the motion state is one of a static state and a rotating state; and performing external parameter calibration on a target sensor on a car model assembly in the multi-sensor calibration system according to the motion state. According to the invention, based on the motion state of the automobile rotating table in the multi-sensor calibration system, external parameter calibration is carried out on different sensors on the automobile model assembly in the multi-sensor calibration system, so that the calibration efficiency and the calibration accuracy can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to the field of artificial intelligence technology such as autonomous driving and smart transportation. A multi-sensor calibration system and a multi-sensor external parameter calibration method, an electronic device and a readable storage medium are provided. Background Art

[0002] In the prior art, when calibrating the external parameters of sensors, the method usually adopted is to calibrate different sensors separately, so it is necessary to change the calibration sites corresponding to different sensors to achieve the purpose of calibrating the external parameters of different sensors separately. Therefore, the prior art has the problems of complex calibration steps and low calibration efficiency. Summary of the invention

[0003] According to a first aspect of the present disclosure, a multi-sensor calibration system is provided, comprising an open calibration room, a corner reflector assembly, a car turntable and a car model assembly, wherein the car model assembly comprises a camera to be calibrated, a laser radar to be calibrated, a millimeter-wave radar to be calibrated and an inertial measurement unit; the corner reflector assembly, the car turntable and the car model assembly are located in the open calibration room; wherein the open calibration room comprises a calibration image, and the calibration image is used to calibrate the external parameters of the camera to be calibrated; the corner reflector assembly comprises a preset number of corner reflectors, which are used to calibrate the external parameters of the millimeter-wave radar to be calibrated in combination with the inertial measurement unit; the car turntable carries the car model assembly, which is used to calibrate the external parameters of the laser radar to be calibrated by rotating and combining with the inertial measurement unit.

[0004] According to a second aspect of the present disclosure, a method for extrinsic parameter calibration of a multi-sensor is provided, comprising: obtaining a motion state of a car turntable in the multi-sensor calibration system, wherein the motion state is one of a stationary state and a rotating state; and performing extrinsic parameter calibration on a target sensor on a car model assembly in the multi-sensor calibration system according to the motion state.

[0005] According to a third aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method as described above.

[0006] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to execute the method as described above.

[0007] According to a fifth aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program implements the method as described above when executed by a processor.

[0008] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0010] Figure 1 is a schematic diagram according to a first embodiment of the present disclosure;

[0011] Figure 2 is a schematic diagram according to a second embodiment of the present disclosure;

[0012] Figure 3 is a schematic diagram according to a third embodiment of the present disclosure;

[0013] Figure 4 The block diagram is a block diagram of an electronic device used to implement the extrinsic parameter calibration method of multiple sensors according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0014] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, the description of well-known functions and mechanisms is omitted in the following description.

[0015] Figure 1 Schematic diagram of the first embodiment of the present disclosure. Figure 1 As shown, the multi-sensor calibration system of this embodiment is composed of an open calibration room 1, a corner reflector assembly 2, a car guide platform 3, a car rotating platform 4, a car straightener 5 and a car model assembly 6; wherein, the car model assembly 6 includes sensors to be calibrated, such as a camera to be calibrated, a laser radar to be calibrated, and a millimeter-wave radar to be calibrated, and an inertial measurement unit (IMU).

[0016] In this embodiment, multiple calibration images are set on the three walls (front wall, left wall and right wall) of the open calibration room 1; the calibration image in this embodiment can be a QR code image, that is, this embodiment uses the QR code image to calibrate the external parameters of the camera.

[0017] In addition, transparent glass may be provided above the open calibration room 1 of the present embodiment to accommodate external parameter calibration of multiple sensors in rainy, snowy and other weather conditions.

[0018] In this embodiment, the corner reflector assembly 2 is composed of a preset number of corner reflectors, and the distance between two adjacent corner reflectors is a preset distance; wherein the preset number in this embodiment may be 3.

[0019] In this embodiment, the corner reflector assembly 2 is arranged in the open calibration room 1. For example, the corner reflector assembly 2 is arranged directly in front of the open calibration room 1 to ensure that the corner reflector assembly 2 is within the field of view of the sensor in the car model assembly 6.

[0020] In this embodiment, the vehicle guide platform 3 is arranged in the open calibration room 1 to guide the vehicle model assembly 6 to travel to the vehicle rotating platform 4 through the slope of the vehicle guide platform 5 .

[0021] In this embodiment, the car turntable 4 is arranged in the open calibration room 1, used to carry the car model assembly 6, and can rotate according to the set rotation speed and / or rotation time; it can be understood that the car turntable 4 can be arranged at the center position of the open calibration room 1.

[0022] In this embodiment, the car straightener 5 is arranged on the car turntable 4, and is used to place the car model assembly 6 in the middle position on the car turntable 4, and the center of the car straightener 5 coincides with the center of the car turntable 4.

[0023] In this embodiment, the automobile straightener 5 includes a tire pre-positioning position (front wheel pre-positioning position, rear wheel pre-positioning position) and a tire straightener (front wheel straightener and rear wheel straightener).

[0024] Specifically, after the vehicle model assembly 6 in this embodiment is moved to the vehicle turntable 4 through the vehicle guide platform 3, the vehicle straightener 5 places the four wheels of the vehicle model assembly 6 on the tire preset positions, and pushes the vehicle model assembly 6 to the middle of the vehicle turntable 4 through the tire straightener, so that the vehicle model assembly 6 faces the front of the open calibration room 1.

[0025] In this embodiment, the vehicle model assembly 6 is located on the vehicle turntable 4; the vehicle model assembly 6 is made according to the vehicle to be calibrated, and has the same shape, size, and sensors (same sensor type, same sensor position, etc.) as the vehicle to be calibrated.

[0026] In this embodiment, the vehicle model assembly 6 includes a camera assembly (i.e., a camera to be calibrated), a laser radar assembly (i.e., a laser radar to be calibrated), a millimeter-wave radar assembly (i.e., a millimeter-wave radar to be calibrated), and an IMU.

[0027] Figure 2 is a schematic diagram according to the second embodiment of the present disclosure. Figure 2 As shown, the extrinsic parameter calibration method of multiple sensors in this embodiment specifically includes the following steps:

[0028] S201, obtaining a motion state of a vehicle turntable in the multi-sensor calibration system, wherein the motion state is one of a stationary state and a rotating state;

[0029] S202. According to the motion state, external parameter calibration is performed on the target sensor on the vehicle model assembly in the multi-sensor calibration system.

[0030] The multi-sensor external parameter calibration method of the present embodiment performs external parameter calibration on corresponding sensors on the vehicle model assembly in the multi-sensor calibration system according to the motion state of the vehicle turntable in the multi-sensor calibration system. Since the vehicle turntable can provide both static and rotating states at the same time, there is no need to change the calibration site. Therefore, it is possible to achieve the purpose of performing external parameter calibration on different sensors in the open calibration room provided by the multi-sensor calibration system, thereby improving the external parameter calibration efficiency of multiple sensors.

[0031] It can be understood that, in this embodiment, when performing external parameter calibration of multiple sensors based on the multi-sensor calibration system, the vehicle model assembly has been accurately placed on the vehicle turntable through the vehicle guide table and the vehicle straightener of the multi-sensor calibration system, so that the vehicle model assembly placed on the vehicle turntable faces the front of the open calibration room.

[0032] When executing S201, this embodiment can obtain the stationary state as the motion state of the vehicle turntable when it is determined that the vehicle turntable is stationary; and can obtain the rotating state as the motion state of the vehicle turntable when it is determined that the vehicle turntable is rotating.

[0033] In this embodiment, the car turntable can be controlled to start rotating at a preset speed and / or for a preset duration by sending a command to the car turntable or directly operating the car turntable, so that the motion state of the car turntable is changed from a stationary state to a rotating state.

[0034] After executing S201 to obtain the motion state, this embodiment executes S202 to perform external parameter calibration on the target sensor on the vehicle model assembly in the multi-sensor calibration system according to the motion state.

[0035] In this embodiment, different motion states correspond to different target sensors. For example, in a stationary state, the target sensor is a camera to be calibrated and / or a millimeter-wave radar to be calibrated; in a rotating state, the target sensor is a laser radar to be calibrated.

[0036] Therefore, when executing S202 in this embodiment to perform external parameter calibration on the target sensor on the vehicle model assembly in the multi-sensor calibration system according to the motion state, the implementation method that can be adopted is: in response to determining that the motion state is a stationary state, external parameter calibration is performed on the camera to be calibrated and / or the millimeter-wave radar to be calibrated on the vehicle model assembly.

[0037] In addition, when executing S202, the present embodiment can also adopt the following implementation method when performing external parameter calibration on the target sensor on the vehicle model assembly in the multi-sensor calibration system according to the motion state: in response to determining that the motion state is a rotation state, external parameter calibration is performed on the laser radar to be calibrated on the vehicle model assembly.

[0038] That is to say, in this embodiment, when the car turntable is stationary, the camera to be calibrated and / or the millimeter-wave radar to be calibrated on the car model assembly is calibrated, and when the car turntable is rotating, the millimeter-wave radar to be calibrated on the car model assembly is calibrated, thereby achieving the purpose of calibrating the external parameters of different sensors according to different motion states, and can improve the accuracy of the external parameter calibration of different sensors.

[0039] The specific external parameter calibration process of different sensors in this embodiment will be described in detail below.

[0040] Figure 3 is a schematic diagram according to the third embodiment of the present disclosure. Figure 3 As shown, when executing S202 "performing external parameter calibration on the target sensor on the vehicle model assembly in the multi-sensor calibration system according to the motion state", this embodiment may further include the following steps:

[0041] S301, in response to determining that the motion state is the first static state, performing external parameter calibration on the camera to be calibrated on the vehicle model assembly;

[0042] S302, after completing the extrinsic parameters of the camera to be calibrated, in response to determining that the motion state is a rotation state, calibrating the extrinsic parameters of the laser radar to be calibrated on the vehicle model assembly;

[0043] S303: After completing the calibration of the external parameters of the laser radar to be calibrated, in response to determining that the motion state is the second static state, calibrating the external parameters of the millimeter-wave radar to be calibrated on the vehicle model assembly.

[0044] That is to say, this embodiment achieves the purpose of calibrating the external parameters of the camera to be calibrated, the laser radar to be calibrated and the millimeter-wave radar to be calibrated on the vehicle model assembly in sequence according to the different motion states corresponding to the vehicle turntable in the multi-sensor calibration system, and calibrates the external parameters of each sensor through the continuous motion process of the vehicle turntable before starting to rotate (i.e., the first stationary state), during the rotation (i.e., the rotation state) and after the rotation ends (i.e., the second stationary state), which can also improve the calibration efficiency and calibration accuracy of the sensor external parameters.

[0045] In this embodiment, the first stationary state is a stationary state before the rotating state, and the second stationary state is a stationary state after the rotating state.

[0046] Specifically, when executing S301 to perform external parameter calibration on the camera to be calibrated on the car model assembly, the implementation method that can be adopted in this embodiment is: obtaining image data of the calibration image in the multi-sensor calibration system corresponding to the camera to be calibrated during the stationary process; obtaining the first point cloud data of the corresponding calibration image collected by the laser radar to be calibrated on the car model assembly during the stationary process; performing external parameter calibration on the camera to be calibrated based on the acquired image data and the first point cloud data; the calibration image in this embodiment is located in the open calibration room in the multi-sensor calibration system.

[0047] That is to say, in this embodiment, when the automobile turntable is in the first stationary state (i.e., before it starts to rotate), the extrinsic parameter calibration result of the camera to be calibrated is obtained through the image data collected by the camera to be calibrated and the first point cloud data collected by the laser radar to be calibrated; wherein, the extrinsic parameter calibration result obtained by executing S301 in this embodiment is specifically the extrinsic parameter (such as the rotation matrix) of the camera to be calibrated relative to the laser radar to be calibrated.

[0048] Among them, when executing S301, this embodiment performs external parameter calibration on the camera to be calibrated according to the acquired image data and the first point cloud data. The implementation method that can be adopted is: extracting camera feature corner points from the image data; extracting lidar feature corner points from the first point cloud data; and obtaining the external parameter calibration result of the camera to be calibrated according to the extracted camera feature corner points and lidar feature corner points.

[0049] The process of performing S202 to calibrate the external parameters of the camera to be calibrated in the above embodiment is similar to the process of performing S301 to calibrate the external parameters of the camera to be calibrated in this embodiment.

[0050] In this embodiment, after executing S301 to calibrate the external parameters of the camera to be calibrated, executing S302 after completing the calibration of the external parameters of the camera to be calibrated, in response to determining that the motion state is a rotational state, the external parameters of the laser radar to be calibrated on the vehicle model assembly are calibrated.

[0051] Specifically, when executing S302 to perform external parameter calibration on the laser radar to be calibrated on the car model assembly, the implementation method that can be adopted in this embodiment is: obtaining the first trajectory data collected by the laser radar to be calibrated during the rotation process; obtaining the second trajectory data collected by the inertial measurement unit on the car model assembly during the rotation process; and obtaining the external parameter calibration result of the laser radar to be calibrated based on the obtained first trajectory data and the second trajectory data.

[0052] That is to say, after completing the calibration of the external parameters of the camera to be calibrated, this embodiment can control the car turntable to start rotating, so as to obtain the trajectory data collected by the laser radar to be calibrated and the inertial measurement unit during the rotation process, and then use the acquired trajectory data to calibrate the external parameters of the laser radar to be calibrated.

[0053] In this embodiment, the car turntable can be controlled to rotate at a preset speed and / or a preset duration by sending instructions or directly operating the car turntable, so that the car turntable is in a rotating state, thereby obtaining the trajectory data collected by the corresponding sensor during the rotation of the car model assembly.

[0054] When executing S302, this embodiment can use the existing Lidar_IMU calibration algorithm to obtain the external parameter calibration result of the laser radar to be calibrated according to the first trajectory data and the second trajectory data; the external parameter calibration result obtained by executing S302 in this embodiment is specifically the external parameters of the laser radar to be calibrated relative to the inertial measurement unit (such as rotation matrix and / or translation parameters).

[0055] The process of executing S202 to calibrate the external parameters of the laser radar to be calibrated in the above embodiment is similar to the process of executing S302 to calibrate the external parameters of the laser radar to be calibrated in this embodiment.

[0056] In this embodiment, after executing S302 to calibrate the external parameters of the laser radar to be calibrated, executing S303 after completing the calibration of the external parameters of the laser radar to be calibrated, in response to determining that the motion state is the second static state, the external parameters of the millimeter-wave radar to be calibrated on the vehicle model assembly are calibrated.

[0057] It can be understood that, when the car turntable stops rotating and is in the second stationary state, the car model assembly in this embodiment can face the front of the open calibration room.

[0058] Specifically, when executing S303 to perform external parameter calibration on the millimeter-wave radar to be calibrated on the vehicle model assembly, the implementation method that can be adopted in this embodiment is: obtaining the second point cloud data collected by the millimeter-wave radar to be calibrated for the corner reflector assembly in the multi-sensor calibration system during the stationary process; obtaining the heading data collected by the inertial measurement unit on the vehicle model assembly during the stationary process; and performing external parameter calibration on the millimeter-wave radar to be calibrated based on the obtained second point cloud data and heading data.

[0059] That is to say, after completing the calibration of the external parameters of the laser radar to be calibrated, the vehicle turntable gradually stops rotating. After determining that the vehicle turntable becomes stationary, the external parameters of the millimeter-wave radar to be calibrated are calibrated according to the second point cloud data collected by the millimeter-wave radar to be calibrated for the corner reflector assembly and the heading data collected by the inertial measurement unit.

[0060] Among them, when executing S303 in this embodiment, when performing external parameter calibration on the millimeter-wave radar to be calibrated according to the acquired second point cloud data and heading data, the implementation method that can be adopted is: according to the characteristic points of each corner reflector in the corresponding corner reflector assembly in the second point cloud data, obtain the first heading angle corresponding to the millimeter-wave radar to be calibrated; according to the heading data, obtain the second heading angle of the corresponding inertial measurement unit; according to the first heading angle and the second heading angle, obtain the external parameter calibration result of the millimeter-wave radar to be calibrated; wherein, the external parameter calibration result obtained by executing S303 in this embodiment is specifically the heading angle deviation between the millimeter-wave radar to be calibrated and the inertial measurement unit.

[0061] Since the heading data in this embodiment is obtained after the inertial measurement unit on the vehicle model assembly changes from rotating to stationary, the heading data obtained in this embodiment during the stationary process will be more accurate, thereby improving the accuracy of the external parameter calibration results of the millimeter-wave radar to be calibrated.

[0062] The multi-sensor external parameter calibration method of this embodiment is based on the constructed multi-sensor calibration system. In a continuous operation process of the automobile turntable (before starting rotation, during rotation, and after ending rotation), the external parameters of multiple sensors to be calibrated on the vehicle model assembly are calibrated in turn, which can improve the external parameter calibration efficiency and accuracy of multiple sensors.

[0063] In the technical solution disclosed herein, the acquisition, storage and application of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0064] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0065] like Figure 4, is a block diagram of an electronic device according to an external parameter calibration method for multiple sensors according to an embodiment of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0066] like Figure 4 As shown, the device 400 includes a computing unit 401, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 402 or a computer program loaded from a storage unit 408 into a random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the device 400 can also be stored. The computing unit 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0067] A number of components in the device 400 are connected to the I / O interface 405, including: an input unit 406, such as a keyboard, a mouse, etc.; an output unit 407, such as various types of displays, speakers, etc.; a storage unit 408, such as a disk, an optical disk, etc.; and a communication unit 409, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 409 allows the device 400 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0068] The computing unit 401 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 401 performs the various methods and processes described above, such as the external parameter calibration method of multiple sensors. For example, in some embodiments, the external parameter calibration method of multiple sensors may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 408.

[0069] In some embodiments, part or all of the computer program may be loaded and / or installed on the device 400 via the ROM 402 and / or the communication unit 409. When the computer program is loaded into the RAM 403 and executed by the computing unit 401, one or more steps of the extrinsic calibration method for multiple sensors described above may be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to perform the extrinsic calibration method for multiple sensors in any other appropriate manner (e.g., by means of firmware).

[0070] Various implementations of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0071] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable multi-sensor external parameter calibration device, so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0072] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, 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 foregoing.

[0073] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0074] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0075] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services ("Virtual Private Server", or "VPS" for short). The server may also be a server for a distributed system, or a server combined with a blockchain.

[0076] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0077] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A multi-sensor calibration system, comprising an open calibration room, a corner reflector assembly, a car rotating platform and a car model assembly, wherein the car model assembly comprises a camera to be calibrated, a laser radar to be calibrated, a millimeter-wave radar to be calibrated and an inertial measurement unit; The corner reflector assembly, the automobile rotating platform and the vehicle model assembly are located in the open calibration room; in, The open calibration room includes a calibration image, and the calibration image is used to calibrate the external parameters of the camera to be calibrated; The corner reflector assembly includes a preset number of corner reflectors, which are used to calibrate the external parameters of the millimeter-wave radar to be calibrated in combination with the inertial measurement unit; The automobile rotating table carries the vehicle model assembly and is used to calibrate the external parameters of the laser radar to be calibrated by rotating and combining with the inertial measurement unit.

2. The system according to claim 1, further comprising a vehicle guide station, The vehicle guide platform is located in the open calibration room and is used to guide the vehicle model assembly to travel to the vehicle rotating platform.

3. The system according to claim 1, further comprising a vehicle straightener, The car straightener is located on the car rotating platform, and comprises a tire pre-positioning position and a tire straightener, and is used for placing the car model assembly to a middle position on the car rotating platform.

4. The system according to claim 1, wherein: The corner reflector assembly is arranged in front of the open calibration room, and the distance between two adjacent corner reflectors in the corner reflector assembly is a preset distance.

5. A method for calibrating external parameters of multiple sensors, comprising: Acquire the motion state of the automobile turntable in the multi-sensor calibration system, wherein the motion state is one of a stationary state and a rotating state; According to the motion state, calibrating the target sensor on the vehicle model assembly in the multi-sensor calibration system with external parameters; Wherein, the multi-sensor calibration system is any one of the systems in claims 1-4.

6. The method according to claim 5, wherein: The step of calibrating the target sensor on the vehicle model assembly in the multi-sensor calibration system according to the motion state includes: In response to determining that the motion state is a stationary state, external parameter calibration is performed on the camera to be calibrated and / or the millimeter-wave radar to be calibrated on the vehicle model assembly.

7. The method according to claim 5, wherein: The step of calibrating the target sensor on the vehicle model assembly in the multi-sensor calibration system according to the motion state includes: In response to determining that the motion state is a rotation state, external parameter calibration is performed on the laser radar to be calibrated on the vehicle model assembly.

8. The method according to claim 5, wherein: The step of calibrating the target sensor on the vehicle model assembly in the multi-sensor calibration system according to the motion state includes: In response to determining that the motion state is the first static state, calibrating the camera to be calibrated on the vehicle model assembly; After completing the extrinsic parameters of the camera to be calibrated, in response to determining that the motion state is a rotation state, calibrating the extrinsic parameters of the laser radar to be calibrated on the vehicle model assembly; After completing the calibration of the external parameters of the laser radar to be calibrated, in response to determining that the motion state is the second static state, calibrating the external parameters of the millimeter-wave radar to be calibrated on the vehicle model assembly; The first stationary state is a stationary state before the rotating state, and the second stationary state is a stationary state after the rotating state.

9. The method according to claim 6 or 8, wherein: The extrinsic parameter calibration of the camera to be calibrated on the vehicle model assembly comprises: Acquire image data corresponding to a calibration image in the multi-sensor calibration system, which is collected by the camera to be calibrated during a stationary process; Acquire first point cloud data corresponding to the calibration image collected by the laser radar to be calibrated on the vehicle model assembly during a stationary process; Performing extrinsic calibration on the camera to be calibrated according to the image data and the first point cloud data.

10. The method according to claim 9, wherein: The performing extrinsic calibration on the camera to be calibrated according to the image data and the first point cloud data comprises: Extracting camera feature corner points from the image data; Extracting laser radar feature corner points from the first point cloud data; According to the camera feature corner points and the laser radar feature corner points, an external parameter calibration result of the camera to be calibrated is obtained.

11. The method according to claim 7 or 8, wherein: The extrinsic parameter calibration of the laser radar to be calibrated on the vehicle model assembly includes: Acquire first trajectory data collected by the laser radar to be calibrated during the rotation process; Acquire second trajectory data collected by an inertial measurement unit on the vehicle model assembly during the rotation process; An external parameter calibration result of the laser radar to be calibrated is obtained according to the first trajectory data and the second trajectory data.

12. The method according to claim 6 or 8, wherein: The extrinsic parameter calibration of the to-be-calibrated millimeter-wave radar on the vehicle model assembly comprises: Acquire second point cloud data collected by the millimeter-wave radar to be calibrated for the corner reflector assembly in the multi-sensor calibration system during a stationary process; Acquiring heading data collected by an inertial measurement unit on the vehicle model assembly during a stationary process; According to the second point cloud data and the heading data, external parameter calibration is performed on the millimeter-wave radar to be calibrated.

13. The method according to claim 12, wherein: The performing external parameter calibration on the to-be-calibrated millimeter-wave radar according to the second point cloud data and the heading data comprises: Obtaining a first heading angle corresponding to the millimeter-wave radar to be calibrated according to the characteristic points of each corner reflector in the corner reflector assembly corresponding to the second point cloud data; Obtaining a second heading angle corresponding to the inertial measurement unit according to the heading data; An external parameter calibration result of the millimeter-wave radar to be calibrated is obtained according to the first heading angle and the second heading angle.

14. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 5 to 13.

15. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 5 to 13.

16. A computer program product comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 5 to 13.

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