Calibration device and related calibration method

Abstract

The present application provides a calibration device and a related calibration method. The calibration device includes a first calibration plate and a first sensor that are fixedly connected, and the first position transformation relationship between the first sensor coordinate system and the first calibration plate coordinate system is preconfigured in the calibration device. The first sensor is used to identify the first other device to obtain the position and posture of the first other device; the first calibration plate is provided with a first calibration indicator, and the first calibration indicator is used to be identified by the second other device to obtain the position and posture of the calibration plate relative to the coordinate system of the second other device; the position and posture of the first other device relative to the first sensor coordinate system and the first position transformation relationship are used to determine the position and posture of the first other device in the coordinate system of the first calibration plate. The calibration device can calibrate the object to be calibrated without relying on a fixed calibration site, thereby improving the calibration efficiency while ensuring the calibration accuracy. The calibration method is used to obtain the first position transformation relationship to achieve self-calibration of the calibration device.

Description

Technical Field

[0001] The present application belongs to the field of measurement technology, and in particular, relates to a calibration device and a related calibration method. Background Art

[0002] At present, when using the calibration plate to calibrate the object to be calibrated, it is generally necessary to use a fixed calibration site to achieve it. For example, the calibration plate is placed at a fixed position in the calibration site, and the object to be calibrated is calibrated according to the calibration plate in the calibration site.

[0003] However, this calibration method requires both a fixed calibration site and the calibration board to be placed at a fixed position in the calibration site. It has high requirements for the site and deployment, is not flexible enough in implementation, and has a high calibration cost.

[0004] Therefore, how to ensure calibration accuracy while improving calibration efficiency has become an urgent problem to be solved. Summary of the invention

[0005] The purpose of the present application is to provide a calibration device and a related calibration method. According to the calibration device provided by the present application, the object to be calibrated can be calibrated without relying on a fixed calibration site, thereby improving the efficiency of calibration while ensuring the calibration accuracy. According to the calibration method provided by the present application, the self-calibration of the calibration device can be realized, so that the calibration device can be used to calibrate the object to be calibrated later, thereby realizing the calibration of the object to be calibrated without relying on a fixed calibration site, thereby improving the efficiency of calibration while ensuring the calibration accuracy.

[0006] In a first aspect, an embodiment of the present application provides a calibration device, comprising:

[0007] A first sensor, used for identifying a first other device, so as to obtain a position and posture of the first other device relative to a coordinate system of the first sensor;

[0008] A first calibration plate, provided with at least one calibration indicator, wherein the at least one calibration indicator is used to be identified by a second other device to obtain a position and posture of the first calibration plate relative to a coordinate system of the second other device;

[0009] Among them, the first sensor is fixedly connected to the first calibration plate, the first pose transformation relationship between the coordinate system of the first sensor and the coordinate system of the first calibration plate is pre-configured in the calibration device, and the pose of the first other device relative to the coordinate system of the first sensor and the first pose transformation relationship are used to determine the target pose, and the target pose is the pose of the first other device in the coordinate system of the first calibration plate.

[0010] Optionally, the calibration device further includes:

[0011] A second sensor is used to identify the first other device to obtain a posture of the first other device relative to a coordinate system of the second sensor, wherein a second posture transformation relationship between the coordinate system of the second sensor and the coordinate system of the first calibration plate is preconfigured in the calibration device;

[0012] Among them, the posture of the first other device relative to the coordinate system of the first sensor and the first posture transformation relationship are used to determine the first posture of the first other device in the coordinate system of the first calibration plate; the posture of the first other device relative to the coordinate system of the second sensor and the second posture transformation relationship are used to determine the second posture of the first other device in the coordinate system of the first calibration plate, and the first posture and the second posture are used to obtain the target posture.

[0013] Optionally, a third posture transformation relationship of the coordinate system of the second sensor relative to the coordinate system of the first sensor is preconfigured in the calibration device, and the first posture and the second posture are also used to verify whether the first sensor and the second sensor conform to the third posture transformation relationship.

[0014] Exemplarily, based on the first posture and the second posture, the posture transformation relationship between the current first sensor coordinate system and the second sensor coordinate system (for convenience of explanation, referred to as the current posture transformation relationship) can be obtained to verify whether the current posture transformation relationship conforms to the third posture transformation relationship.

[0015] In a second aspect, an embodiment of the present application provides a calibration method, including:

[0016] The third sensor identifies the first calibration plate at a first moment and a second moment, respectively, so as to obtain a fourth posture transformation relationship and a fifth posture transformation relationship of a coordinate system of the first calibration plate relative to a coordinate system of the third sensor, wherein the posture of the first calibration plate at the first moment is different from the posture at the second moment;

[0017] The first sensor identifies the second calibration plate at the first moment and the second moment respectively, thereby obtaining a sixth posture transformation relationship and a seventh posture transformation relationship of a coordinate system of the second calibration plate relative to a coordinate system of the first sensor, wherein the first sensor is fixedly connected to the first calibration plate, and the third sensor is fixedly connected to the second calibration plate;

[0018] According to the fourth posture transformation relationship, the fifth posture transformation relationship, the sixth posture transformation relationship and the seventh posture transformation relationship, a first posture transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the first sensor is obtained.

[0019] Optionally, the first calibration plate is provided with at least one first calibration indicator, and the third sensor obtains the position and posture of the first calibration plate relative to the coordinate system of the third sensor by identifying the at least one first calibration indicator;

[0020] The second calibration plate is provided with at least one second calibration indicator, and the first sensor obtains the position and posture of the second calibration plate relative to the coordinate system of the first sensor by identifying the at least one second calibration indicator.

[0021] Optionally, the method further comprises:

[0022] The second sensor identifies the second calibration plate at the first moment and the second moment respectively, thereby obtaining an eighth posture transformation relationship and a ninth posture transformation relationship of a coordinate system of the second calibration plate relative to a coordinate system of the third sensor, wherein the second sensor is fixedly connected to the first calibration plate;

[0023] According to the fourth posture transformation relationship, the fifth posture transformation relationship, the eighth posture transformation relationship and the ninth posture transformation relationship, a second posture transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the second sensor is obtained.

[0024] Optionally, the method further comprises:

[0025] According to the fourth posture transformation relationship and the eighth posture transformation relationship, a third posture transformation relationship of the coordinate system of the first sensor relative to the coordinate system of the second sensor is obtained.

[0026] In a third aspect, an embodiment of the present application provides a calibration method, including:

[0027] The first sensor identifies the second calibration plate, thereby obtaining a fourth posture transformation relationship between the coordinate system of the second calibration plate and the coordinate system of the first sensor;

[0028] The third sensor identifies the first calibration plate, thereby obtaining a fifth posture transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the third sensor, wherein the second sensor is fixedly connected to the first calibration plate;

[0029] The third sensor identifies the second calibration plate, thereby obtaining a sixth posture transformation relationship between the coordinate system of the second calibration plate and the coordinate system of the third sensor;

[0030] According to the fourth posture transformation relationship, the fifth posture transformation relationship and the sixth posture transformation relationship, a first posture transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the first sensor is obtained.

[0031] Optionally, the first calibration plate is provided with at least one first calibration indicator, and the third sensor obtains the position and posture of the first calibration plate relative to the coordinate system of the third sensor by identifying the at least one first calibration indicator;

[0032] The second calibration plate is provided with at least one second calibration indicator, the first sensor obtains the position and posture of the second calibration plate relative to the first sensor by identifying the at least one second calibration indicator, and the third sensor obtains the position and posture of the second calibration plate relative to the third sensor by identifying the at least one second calibration indicator.

[0033] Optionally, the method further comprises:

[0034] The second sensor identifies the second calibration plate, thereby obtaining a seventh posture transformation relationship of a coordinate system of the second calibration plate relative to a coordinate system of the second sensor, wherein the second sensor is fixedly connected to the first calibration plate;

[0035] According to the fourth posture transformation relationship, the fifth posture transformation relationship and the seventh posture transformation relationship, a second posture transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the second sensor is obtained.

[0036] Optionally, the method further comprises:

[0037] Based on the recognition results of the first sensor and the second sensor respectively on the second calibration plate in the same posture, respectively obtain a fifth posture transformation relationship and a sixth posture transformation relationship of the coordinate system of the second calibration plate relative to the coordinate system of the first sensor and the coordinate system of the second sensor;

[0038] According to the fifth posture transformation relationship and the sixth posture transformation relationship, a seventh posture transformation relationship of the coordinate system of the first sensor relative to the coordinate system of the second sensor is obtained.

[0039] In a fourth aspect, an embodiment of the present application provides a device for calibration, including:

[0040] An acquisition module, configured to respectively identify a first calibration plate included in the calibration device at a first moment and a second moment to obtain recognition results, thereby respectively obtaining a fourth posture transformation relationship and a fifth posture transformation relationship of a coordinate system of the first calibration plate relative to a coordinate system of the third sensor, wherein a posture of the first calibration plate at the first moment is different from a posture at the second moment;

[0041] The acquisition module is further used to identify the second calibration plate at the first moment and the second moment respectively, so as to obtain a sixth posture transformation relationship and a seventh posture transformation relationship of the coordinate system of the second calibration plate relative to the coordinate system of the first sensor, wherein the first sensor is fixedly connected to the first calibration plate, and the third sensor is fixedly connected to the second calibration plate;

[0042] A processing module is used to obtain a first posture transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the first sensor according to the fourth posture transformation relationship, the fifth posture transformation relationship, the sixth posture transformation relationship and the seventh posture transformation relationship.

[0043] In a fifth aspect, an embodiment of the present application provides a device for calibration, including:

[0044] An acquisition module, used for identifying a second calibration plate, so as to obtain a fourth posture transformation relationship of a coordinate system of the second calibration plate relative to a coordinate system of the first sensor;

[0045] The acquisition module is further used to identify the first calibration plate, so as to obtain a fifth posture transformation relationship between the coordinate system of the first calibration plate and the coordinate system of the third sensor;

[0046] The acquisition module is further used to identify the second calibration plate, so as to obtain a sixth posture transformation relationship between the coordinate system of the second calibration plate and the coordinate system of the third sensor;

[0047] A processing module is used to obtain a first posture transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the first sensor according to the fourth posture transformation relationship, the fifth posture transformation relationship and the sixth posture transformation relationship.

[0048] A sixth aspect of an embodiment of the present application provides a device for calibration, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described above when executing the computer program.

[0049] A seventh aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0050] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: there is no need to rely on a fixed calibration site, and the calibration device itself can flexibly and conveniently calibrate the object to be calibrated, and can be adapted to a variety of sites, while ensuring the calibration accuracy, the calibration efficiency is significantly improved. In addition, compared with the method of relying on a fixed calibration site for calibration, the cost can also be reduced. Optionally, in the case where an auxiliary calibration device is required to calibrate the object to be calibrated, the calibration device can replace the calibration site to obtain the position and posture of the auxiliary calibration device relative to the calibration device, and the position and posture of the auxiliary calibration device does not need to be fixed and can be set arbitrarily. This application does not limit the positional relationship between the auxiliary calibration devices. The calibration device can obtain the current position and posture of the auxiliary calibration device in real time, thereby flexibly and conveniently realizing calibration, and can get rid of the dependence on fixed calibration sites, reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A schematic diagram of an example of a calibration device provided by the present application is shown;

[0052] Figure 2 A schematic diagram of another example of a calibration device provided in an embodiment of the present application;

[0053] Figure 3 A schematic diagram of a scenario to which the calibration method 100 provided in an embodiment of the present application is applicable;

[0054] Figure 4 A schematic diagram of a calibration method 100 provided in an embodiment of the present application;

[0055] Figure 5 A schematic diagram of a scenario to which the calibration method 200 provided in an embodiment of the present application is applicable;

[0056] Figure 6 A schematic diagram of a calibration method 200 provided in an embodiment of the present application;

[0057] Figure 7 A schematic diagram of a device for calibration provided in an embodiment of the present application;

[0058] Figure 8 A schematic diagram of another device for calibration provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0060] It should be understood that the "multiple" mentioned in this application refers to two or more. In the description of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate the clear description of the technical solution of this application, the words "first" and "second" are used to distinguish between the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the words "first" and "second" do not limit the quantity and execution order, and the words "first" and "second" do not limit them to be different.

[0061] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0062] At present, when using a calibration plate to calibrate the object to be calibrated, it is generally necessary to use a fixed calibration site to achieve it. For example, the calibration plate is placed at a fixed position in the calibration site, and the object to be calibrated is calibrated according to the calibration plate in the calibration site. However, this calibration method requires both a fixed calibration site and a fixed position of the calibration plate in the calibration site. The requirements for the site and deployment are high, the implementation method is not flexible enough, and the calibration cost is also high. For example, in the field of autonomous driving, it is generally necessary to place the car in a fixed calibration site, and multiple fixed ground targets need to be set in the fixed site to calibrate the car's sensors. In the scenario where the 4S shop needs to calibrate the car's sensors, since there is no fixed site, the car's sensors cannot be calibrated directly, and the car still needs to be driven to the calibration site to achieve it. The calibration efficiency is low and the cost is high. Therefore, how to ensure the calibration accuracy while improving the efficiency of calibration has become an urgent problem to be solved.

[0063] In view of this, the present application provides a calibration device. The calibration device includes a first sensor and a first calibration plate that are fixedly connected, and the first position transformation relationship from the coordinate system of the first sensor to the coordinate system of the first calibration plate is pre-configured in the calibration device. Specifically, how to obtain the first position transformation relationship will be described in detail below.

[0064] The first sensor obtains the position and posture of the first other device relative to the coordinate system of the first sensor by identifying the first other device. The position and posture of the first other device relative to the coordinate system of the first sensor and the first pose transformation relationship are used to determine the target position and posture of the first other device in the coordinate system of the first calibration plate.

[0065] It is understandable that the first other device here can be a device to be calibrated, such as a car equipped with sensors, or a device for auxiliary calibration, including a device placed on or outside the object to be calibrated, such as a ground target or a hub target arranged on the wheel hub of the vehicle. Correspondingly, the first calibration plate can be recognized by the second other device, so that the second other device obtains the pose of the first calibration plate in the coordinate system of the second other device. It is understandable that in the scenario where the calibration device provided in the present application is used to calibrate the object to be calibrated, the second other device here can be an object to be calibrated equipped with a sensor; or in the scenario where the calibration device itself is self-calibrated or the first pose transformation relationship is corrected, the second other device can also be other devices with calibration functions. Optionally, in the case where both the first other device and the second other device include devices to be calibrated with sensors, the first other device and the second other device can be the same device.

[0066] It can also be understood that by obtaining the pose of the object to be calibrated in the first sensor coordinate system and combining the first pose transformation relationship, the pose of the object to be calibrated in the first calibration board coordinate system can be obtained. For example, the two calibration objects are independent of each other, or one of the two objects to be calibrated #1 contains another object to be calibrated #2. Then, by obtaining the poses of the two objects to be calibrated in the first calibration board coordinate system, the coordinate system transformation relationship of the two calibration objects can be obtained. In a possible implementation, the first sensor of the calibration device obtains the pose of a vehicle relative to the first sensor coordinate system, and the pose of the vehicle relative to the first calibration board coordinate system can be obtained in combination with the first pose transformation relationship (for the convenience of explanation, referred to as pose #a). In a similar manner, the pose of the laser radar on the vehicle relative to the first calibration board coordinate system can be obtained (for the convenience of explanation, referred to as pose #b). Through pose #a and pose #b, the pose transformation relationship of the laser radar coordinate system relative to the vehicle coordinate system can be obtained, so that the laser radar can be calibrated to the vehicle coordinate system.

[0067] As can be seen from the above, there is no need to rely on a fixed calibration site. The calibration device itself can flexibly and conveniently calibrate the object to be calibrated, and can be adapted to a variety of sites. While ensuring the calibration accuracy, the calibration efficiency is significantly improved. In addition, compared with the method of relying on a fixed calibration site for calibration, it can also reduce costs.

[0068] Optionally, when an auxiliary calibration device is needed to calibrate the object to be calibrated, the calibration device can replace the calibration site and obtain the position of the auxiliary calibration device relative to the calibration device. The position of the auxiliary calibration device does not need to be fixed. The calibration device can obtain the current position of the auxiliary calibration device in real time, thereby flexibly and conveniently realizing calibration, and getting rid of the dependence on fixed calibration sites, reducing costs.

[0069] Figure 1 A schematic diagram of an example of a calibration device provided by the present application is shown. Figure 1 As shown, the shape of the first calibration plate is a rectangle as an example, and the first sensor is fixed on the edge of the first calibration plate as an example. Exemplarily, the shape of the first calibration plate can be circular, square, rectangular, triangular, or other polygonal, and this application does not limit it. Exemplarily, the first sensor can also be fixed on the surface of the first calibration plate, or other positions, and this application does not make a unique limitation on the fixed position of the first sensor. Exemplarily, the calibration device can include one or more sensors, and this application does not limit the number of sensors included in the calibration device.

[0070] The first sensor in the calibration device includes, but is not limited to: a camera, a laser radar or an optical radar camera, etc. Exemplarily, when the first sensor is a camera, the first sensor identifying the first other device can be understood as the camera taking an image containing the first other device, and the corresponding recognition result is the image containing the first other device; when the first sensor is a laser radar, the first sensor identifying the first other device can be understood as the laser radar scans the target area based on the laser beam of the laser, and the target area contains the first other device, and then the laser radar receives the reflected laser signal through the receiver, and the corresponding recognition result can refer to the reflected laser signal. It should be noted that the sensors involved in this application can all refer to the description of the first sensor in this paragraph. The sensor in this application recognizes an object, and the corresponding recognition result can be understood according to the relevant content of the first sensor recognizing the first other device in this paragraph.

[0071] The first calibration plate in the calibration device is provided with at least one calibration indicator, which is used to be identified by the second other device to obtain the position of the calibration plate relative to the coordinate system of the second other device. The calibration indicator involved in this application can be a code, such as an april tag. Figure 1 The calibration indicator on the calibration plate is illustrated by taking AprilTag as an example. It should be noted that the AprilTag is used as an example in the drawings of the specification of this application, but the calibration indicator provided by this application is not limited to AprilTag. Exemplarily, the second other device can obtain the position and posture of the calibration plate relative to the coordinate system of the second other device through part or all of the indicators in at least one calibration indicator.

[0072] Figure 2 A schematic diagram of another example of the calibration device provided by the present application is shown. Figure 1 As shown, the shape of the first calibration plate is a rectangle as an example, the calibration device includes two sensors as an example, and the first sensor and the second sensor are respectively fixed on the surface of the first calibration plate as an example for illustration.

[0073] Similar to the first sensor, the second sensor is used to identify the first other device to obtain the posture of the first other device relative to the coordinate system of the second sensor, and the second posture transformation relationship between the coordinate system of the second sensor and the coordinate system of the first calibration plate is preconfigured in the calibration device.

[0074] Possible implementation method 1 is to fuse the recognition results of the first sensor and the second sensor for the same device to improve the calibration accuracy.

[0075] As described above, the position and first pose transformation relationship of the first other device relative to the coordinate system of the first sensor are used to determine the target position and pose of the first other device in the coordinate system of the first calibration plate. It is understandable that, when the calibration device includes only one sensor, the first pose of the first other device in the coordinate system of the first calibration plate is determined by the position and first pose transformation relationship of the first other device relative to the coordinate system of the first sensor, where the first sitting posture is the target sitting posture. When the calibration device includes multiple sensors, such as the first sensor and the second sensor, the second pose of the first other device in the coordinate system of the first calibration plate is also determined by the position and pose of the first other device relative to the coordinate system of the second sensor, and the second pose transformation relationship; then the target pose is obtained by fusing the first pose and the second pose. The method of obtaining the target pose by fusing the recognition results of the two sensors is conducive to improving the calibration accuracy.

[0076] Possible implementation manner two: a third posture transformation relationship of the coordinate system of the second sensor relative to the coordinate system of the first sensor is preconfigured in the calibration device.

[0077] It is understandable that the third posture transformation relationship is obtained by calibrating the first sensor coordinate system and the second sensor coordinate system before the calibration device leaves the factory. Specifically, the method for obtaining the third posture transformation relationship will be described in detail below. After the calibration device leaves the factory, if the position of at least one of the two sensors changes, the posture transformation relationship between the two sensors will not conform to the third posture transformation relationship.

[0078] The first pose and the second pose obtained in the possible implementation method 1 can be used to verify whether the first sensor and the second sensor conform to the third pose transformation relationship. Exemplarily, based on the first pose and the second pose, the pose transformation relationship between the current first sensor coordinate system and the second sensor coordinate system (for the convenience of explanation, referred to as the current pose transformation relationship) can be obtained to verify whether the current pose transformation relationship conforms to the third pose transformation relationship. If it conforms, it means that the positional relationship of the two sensors has not changed relative to the factory settings, otherwise it has changed, and the pose change relationship of the two sensors can be re-determined by referring to the method for obtaining the third pose transformation relationship.

[0079] Optionally, the calibration device also includes a processor, and the above possible implementation method 2 can be executed after the processor obtains the first posture and the second posture. Alternatively, the above possible implementation method 2 can be executed by the first sensor and / or the second sensor. For example, the second sensor determines the second position according to the above scheme, the first sensor determines the first posture according to the scheme described above, and after the second sensor obtains the first posture from the first sensor, possible implementation method 2 is executed. For another example, the second sensor obtains the posture of the first other device relative to the coordinate system of the first sensor from the first sensor, determines the first posture in combination with the transformation relationship of the first posture, and then determines the second posture according to the scheme described above, and then possible implementation method 1 is executed.

[0080] It should be noted that, in the above-described scheme, the steps related to determining the posture of the calibration plate (e.g., the first calibration plate) (e.g., determining the target posture, determining the first posture, determining the second posture, etc.) can be executed by the processor in the calibration device, or by the processor of the first sensor strip and / or the processor of the second sensor strip. The specific implementation method can refer to the corresponding description in possible implementation method two.

[0081] Thus, it is possible to achieve self-checking of the positional relationship between multiple sensors inside the calibration device, avoid a decrease in calibration accuracy due to a change in the positional relationship of the sensors, and further improve the calibration accuracy.

[0082] The following, in conjunction with the accompanying drawings and examples, describes in detail how the first pose transformation relationship, the second pose transformation relationship and the third pose transformation relationship pre-configured in the above-mentioned calibration device are obtained.

[0083] Figure 3 FIG. 1 is a schematic diagram showing a scenario in which the calibration method 100 is applicable. Figure 3 As shown, the scene includes the calibration device introduced above (hereinafter referred to as calibration device #1 for convenience of explanation), and also includes a calibration device #2 formed by a third sensor and a second calibration plate fixedly connected. Calibration device #1 is calibrated by calibration device #2. Similarly, the position and posture transformation relationship between the coordinate system of the third sensor and the coordinate system of the second calibration plate is also pre-configured in calibration device #2. Figure 3 It can also be seen that the position of the calibration device #1 at the second moment has changed relative to the position at the first moment. In other words, the position and posture of the first calibration plate at the second moment has changed relative to the position and posture at the first moment. In addition, at the first moment and the second moment, the first calibration plate can be recognized by the third sensor, and the second calibration plate can be recognized by the first sensor. It can be understood that although the calibration device #2 is fixed at the first moment and the second moment, since the position and posture of the first calibration plate at the second moment has changed relative to the position and posture at the first moment, and the first sensor is fixedly connected to the first calibration plate, the position and posture of the second calibration plate recognized by the first sensor at the first moment and the second moment respectively relative to the coordinate system of the first sensor are different.

[0084] Figure 4 A schematic diagram of a calibration method 100 provided in the present application is shown.

[0085] S101, the third sensor identifies the first calibration plate at a first moment and a second moment respectively, thereby obtaining a fourth posture transformation relationship #1 and a fifth posture transformation relationship #1 of the coordinate system of the first calibration plate relative to the coordinate system of the third sensor.

[0086] The position and posture of the first calibration plate at the first moment are different from the position and posture at the second moment. The calibration device also includes a first sensor, and the first sensor is fixedly connected to the first calibration plate.

[0087] Exemplarily, the first calibration plate is provided with at least one first calibration indicator, and the third sensor obtains the position and posture of the first calibration plate relative to the coordinate system of the third sensor by identifying the at least one first calibration indicator.

[0088] S102, the first sensor identifies the second calibration plate at a first moment and a second moment respectively, thereby obtaining a sixth posture transformation relationship #1 and a seventh posture transformation relationship #1 of the coordinate system of the second calibration plate relative to the coordinate system of the first sensor, wherein the third sensor is fixedly connected to the second calibration plate.

[0089] Exemplarily, the second calibration plate is provided with at least one second calibration indicator, and the first sensor obtains the position and posture of the second calibration plate relative to the coordinate system of the first sensor by identifying the at least one second calibration indicator.

[0090] S103, obtaining the first posture transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the first sensor according to the fourth posture transformation relationship #1, the fifth posture transformation relationship #1, the sixth posture transformation relationship #1 and the seventh posture transformation relationship #1.

[0091] A further example of method 100 is given below by taking the case where both the first sensor and the third sensor are visual sensors, namely cameras.

[0092] First, ensure that the first calibration plate (hereinafter referred to as b1) is within the field of view of the third sensor (hereinafter referred to as c3), and the second calibration plate (hereinafter referred to as b2) is within the field of view of the first sensor (hereinafter referred to as c1). Each time the calibration device #1 moves, c1 and c3 each capture an image to obtain a multi-frame image pair. Where i is the time, for example, i can be t0, t1, t2, etc. It is understood that the more the position and posture of the calibration device #1 changes, the more values ​​i can take, and the more image pairs can be obtained, which is conducive to improving the calibration accuracy.

[0093] Then, taking i as t0 and t1 as examples, we obtain the image pairs at time t0 and time t1. For example, the position transformation relationship of b1, b2, c1 and c3 is obtained by the perspective-n-point (PnP) algorithm: In this application, Represents the pose transformation relationship from the A coordinate system to the B coordinate system. Represents the position transformation relationship from the A coordinate system to the B coordinate system at the i-th moment. For example, it represents the position transformation relationship from the coordinate system of the third sensor to the coordinate system of the first calibration plate at time t0. Since c1 and b1, c3 and b2 are fixed together, the transformation relationship between them is and is constant. Here is how to obtain Example. First, construct the equation at t0 and t1 respectively:

[0094]

[0095]

[0096] From (1) and (2), we can get:

[0097]

[0098] Because it needs to be solved Invert (3) and rearrange it to get:

[0099]

[0100] make Then we have:

[0101] AX=XB (5).

[0102] Then, the Navy hand-eye calibration algorithm can be used to solve equation (5) to obtain the first pose transformation relationship from the first calibration plate coordinate system to the first sensor coordinate system: Similarly, the transformation relationship from the second calibration plate coordinate system to the third sensor coordinate system can be obtained:

[0103] Optionally, the method 100 is also applicable to a calibration device including multiple sensors. For example, the calibration device #1 in the method 100 further includes a second sensor, and the second sensor is fixedly connected to the first calibration plate, such as Figure 2 As shown. Referring to S101 to S103, a second posture transformation relationship can also be obtained. Exemplarily, method 100 also includes: Step 1: The second sensor identifies the second calibration plate at the first moment and the second moment respectively, thereby obtaining the eighth posture transformation relationship and the ninth posture transformation relationship of the coordinate system of the second calibration plate relative to the coordinate system of the third sensor, wherein the second sensor is fixedly connected to the first calibration plate. Step 2: According to the fourth posture transformation relationship #1, the fifth posture transformation relationship #1, the eighth posture transformation relationship #1 and the ninth posture transformation relationship #1, the second posture transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the second sensor is obtained.

[0104] As described above, the self-check of the positional relationship between multiple sensors inside the calibration device requires the use of the third posture transformation relationship #1. Referring to S101 to S103, a third posture transformation relationship can also be obtained. Specifically, the first calibration plate in S101 to S103 can be replaced with the second sensor. Exemplarily, according to the fourth posture transformation relationship #1 and the eighth posture transformation relationship #1, the third posture transformation relationship of the coordinate system of the first sensor relative to the coordinate system of the second sensor is obtained.

[0105] Figure 5 A schematic diagram of a scenario in which the calibration method 200 is applicable is shown. The calibration device #1 is calibrated by the third sensor and the second calibration plate. The first calibration plate and the second calibration plate can be identified by the third sensor, and the second calibration plate can be identified by the first sensor. Figure 5 As shown, Figure 3 The difference between the illustrated scenarios is that the second calibration plate and the third sensor belong to different devices or equipment, and the calibration device can be fixed. Exemplarily, the third sensor can be a third-party camera or a total station.

[0106] Figure 6 A schematic diagram of a calibration method 200 provided in the present application is shown.

[0107] S201, the first sensor identifies the second calibration plate, thereby obtaining a fourth posture transformation relationship #2 of the coordinate system of the second calibration plate relative to the coordinate system of the first sensor.

[0108] S202: The third sensor identifies the first calibration plate, thereby obtaining a fifth posture transformation relationship #2 between the coordinate system of the first calibration plate and the coordinate system of the third sensor.

[0109] Wherein, the second sensor is fixedly connected to the first calibration plate.

[0110] S203, the third sensor identifies the second calibration plate, thereby obtaining a sixth posture transformation relationship #2 of the coordinate system of the second calibration plate relative to the coordinate system of the third sensor.

[0111] S204, obtaining a first pose transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the first sensor according to the fourth pose transformation relationship #2, the fifth pose transformation relationship #2 and the sixth pose transformation relationship #2.

[0112] The first calibration plate is provided with at least one first calibration indicator, and the recognition result of the first calibration plate by the third sensor is obtained by the third sensor recognizing at least one first calibration indicator. In some embodiments, the third sensor obtains the pose of the first calibration plate relative to the coordinate system of the third sensor by recognizing at least one first calibration indicator.

[0113] The second calibration plate is provided with at least one second calibration indicator, the recognition result of the first sensor on the second calibration plate is obtained by the first sensor recognizing at least one second calibration indicator, and the recognition result of the third sensor on the second calibration plate is obtained by the third sensor recognizing at least one second calibration indicator. In some embodiments, the first sensor obtains the position and posture of the second calibration plate relative to the first sensor by recognizing at least one second calibration indicator, and the third sensor obtains the position and posture of the second calibration plate relative to the third sensor by recognizing at least one second calibration indicator.

[0114] A further example of method 200 is given below by taking the example that the first sensor and the third sensor are both visual sensors.

[0115] Ensure that the first calibration plate (hereinafter referred to as b1) and the second calibration plate (hereinafter referred to as b2) are within the field of view of the third sensor (hereinafter referred to as c3), and b2 is within the field of view of the first sensor (hereinafter referred to as c1).

[0116] Possible implementation method 1: The third sensor is a camera. On the one hand, c1 obtains an image containing b2, and solves PnP through apriltag corner points to obtain the pose transformation relationship between b2's coordinate system and c1's coordinate system. Optionally, c1 can obtain multiple frames containing b2 and average them. On the other hand, c3 obtains images containing b1 and b2, and solves PnP by apriltag corner points to obtain the pose transformation relationship between b1's coordinate system and c3's coordinate system And the position transformation relationship between c3's coordinate system and b2's coordinate system Optionally, c3 can obtain multiple frames of images containing b2 and average them. Get the first pose transformation relationship.

[0117] Possible implementation method 2: The third sensor is a total station. On the one hand, c1 obtains an image containing b2, and solves PnP by apriltag corner points to obtain the pose transformation relationship between b2's coordinate system and c1's coordinate system. Optionally, c1 can obtain multiple frames of images containing b2 and average them. On the other hand, c3 is used to measure the corner point coordinates P of b1 respectively. i b1 and the corner point coordinates P of b2 i b2 , where i is the serial number of the corner point coordinates. For example, the value of i can be 1, 2, 3, 4...n, n>1 and is an integer. i b2 For example, P i b2represents the coordinates of the i-th corner point in b2 in the coordinate system of c3. In the coordinate system of b1, according to the geometric arrangement of the apriltag code, we get P i b1 The coordinates of the corresponding corner points And in the coordinate system of b2, according to the geometric arrangement of the apriltag code, we get P i b2 The coordinates of the corresponding corner points Thus obtaining 3D-3D point pairs The pose transformation relationship from the coordinate system of c3 to the coordinate system of b2 is obtained through the iterative closest point (ICP) algorithm. And the pose transformation relationship from the coordinate system of b1 to the coordinate system of c3 Thus, through Get the first pose transformation relationship.

[0118] Optionally, the method 200 is also applicable to a calibration device including multiple sensors. For example, the calibration device #1 in the method 200 further includes a second sensor, and the second sensor is fixedly connected to the first calibration plate, such as Figure 2 As shown. With reference to S201 to S204, a second posture transformation relationship can also be obtained. Specifically, the first sensor in S201 to S204 can be replaced by the second sensor. Exemplarily, method 100 also includes: step a, the second sensor identifies the second calibration plate, thereby obtaining the seventh posture transformation relationship #2 of the coordinate system of the second calibration plate relative to the coordinate system of the second sensor, wherein the second sensor is fixedly connected to the first calibration plate. Step b, according to the fourth posture transformation relationship #2, the fifth posture transformation relationship #2 and the seventh posture transformation relationship #2, the second posture transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the second sensor is obtained.

[0119] As described above, the self-check of the positional relationship between the multiple sensors in the calibration device requires the use of the third posture transformation relationship #1. Referring to S201 to S204, the third posture transformation relationship can also be obtained. Specifically, the first calibration plate in S201 to S204 can be replaced with the second sensor.

[0120] Figure 7 A structural block diagram of the device 1000 provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0121] Reference Figure 7 In a possible implementation of the embodiment of the present application, the device may specifically include the following modules:

[0122] An acquisition module 1010 is used to obtain recognition results obtained by respectively recognizing a first calibration plate included in a calibration device at a first moment and a second moment, thereby respectively obtaining a fourth posture transformation relationship and a fifth posture transformation relationship of a coordinate system of the first calibration plate relative to a coordinate system of the third sensor, wherein a posture of the first calibration plate at the first moment is different from a posture at the second moment;

[0123] The acquisition module 1010 is further used to identify the second calibration plate at the first moment and the second moment, respectively, so as to obtain a sixth posture transformation relationship and a seventh posture transformation relationship of the coordinate system of the second calibration plate relative to the coordinate system of the first sensor, wherein the first sensor is fixedly connected to the first calibration plate, and the third sensor is fixedly connected to the second calibration plate;

[0124] The processing module 1020 is used to obtain the first posture transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the first sensor according to the fourth posture transformation relationship, the fifth posture transformation relationship, the sixth posture transformation relationship and the seventh posture transformation relationship.

[0125] Reference Figure 7 In another possible implementation of the embodiment of the present application, the device may specifically include the following modules:

[0126] An acquisition module 1010 is used to identify a second calibration plate, thereby obtaining a fourth posture transformation relationship between a coordinate system of the second calibration plate and a coordinate system of the first sensor;

[0127] The acquisition module 1010 is further used to identify a first calibration plate, so as to obtain a fifth posture transformation relationship of a coordinate system of the first calibration plate relative to a coordinate system of the third sensor, wherein the second sensor is fixedly connected to the first calibration plate;

[0128] The acquisition module 1010 is further used to identify the second calibration plate, so as to obtain a sixth posture transformation relationship between the coordinate system of the second calibration plate and the coordinate system of the third sensor;

[0129] The processing module 1020 is used to obtain a first pose transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the first sensor according to the fourth pose transformation relationship, the fifth pose transformation relationship and the sixth pose transformation relationship.

[0130] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method and system embodiment section and will not be repeated here.

[0131] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0132] like Figure 8 As shown, an embodiment of the present application also provides a device 1100, which includes: at least one processor 1110, a memory 1120, and a computer program 1121 stored in the memory and executable on the at least one processor, and when the processor executes the computer program, the steps in any of the above-mentioned method embodiments are implemented.

[0133] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0134] An embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, a mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0135] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / electronic device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0136] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0137] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0138] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0139] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0140] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A calibration device, characterized in that: include: A first sensor, used for identifying a first other device, so as to obtain a position and posture of the first other device relative to a coordinate system of the first sensor; A first calibration plate, provided with at least one calibration indicator, wherein the at least one calibration indicator is used to be identified by a second other device to obtain a position and posture of the first calibration plate relative to a coordinate system of the second other device; Among them, the first sensor is fixedly connected to the first calibration plate, the first pose transformation relationship between the coordinate system of the first sensor and the coordinate system of the first calibration plate is pre-configured in the calibration device, and the pose of the first other device relative to the coordinate system of the first sensor and the first pose transformation relationship are used to determine the target pose, and the target pose is the pose of the first other device in the coordinate system of the first calibration plate.

2. The calibration device according to claim 1, characterized in that: The calibration device also includes: A second sensor is used to identify the first other device to obtain a posture of the first other device relative to a coordinate system of the second sensor, wherein a second posture transformation relationship between the coordinate system of the second sensor and the coordinate system of the first calibration plate is preconfigured in the calibration device; Among them, the posture of the first other device relative to the coordinate system of the first sensor and the first posture transformation relationship are used to determine the first posture of the first other device in the coordinate system of the first calibration plate; the posture of the first other device relative to the coordinate system of the second sensor and the second posture transformation relationship are used to determine the second posture of the first other device in the coordinate system of the first calibration plate; the first posture and the second posture are used to obtain the target posture.

3. The calibration device according to claim 2, characterized in that: A third posture transformation relationship of the coordinate system of the second sensor relative to the coordinate system of the first sensor is preconfigured in the calibration device, and the first posture and the second posture are also used to verify whether the first sensor and the second sensor conform to the third posture transformation relationship.

4. A calibration method, characterized in that: include: The third sensor identifies the first calibration plate at a first moment and a second moment, respectively, so as to obtain a fourth posture transformation relationship and a fifth posture transformation relationship of a coordinate system of the first calibration plate relative to a coordinate system of the third sensor, wherein the posture of the first calibration plate at the first moment is different from the posture at the second moment; The first sensor identifies the second calibration plate at the first moment and the second moment respectively, thereby obtaining a sixth posture transformation relationship and a seventh posture transformation relationship of a coordinate system of the second calibration plate relative to a coordinate system of the first sensor, wherein the first sensor is fixedly connected to the first calibration plate, and the third sensor is fixedly connected to the second calibration plate; According to the fourth posture transformation relationship, the fifth posture transformation relationship, the sixth posture transformation relationship and the seventh posture transformation relationship, a first posture transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the first sensor is obtained.

5. The method according to claim 4, characterized in that The first calibration plate is provided with at least one first calibration indicator, and the third sensor obtains the position and posture of the first calibration plate relative to the coordinate system of the third sensor by identifying the at least one first calibration indicator; The second calibration plate is provided with at least one second calibration indicator, and the first sensor obtains the position and posture of the second calibration plate relative to the coordinate system of the first sensor by identifying the at least one second calibration indicator.

6. The method according to claim 4 or 5, characterized in that The method further comprises: The second sensor identifies the second calibration plate at the first moment and the second moment respectively, thereby obtaining an eighth posture transformation relationship and a ninth posture transformation relationship of a coordinate system of the second calibration plate relative to a coordinate system of the third sensor, wherein the second sensor is fixedly connected to the first calibration plate; According to the fourth posture transformation relationship, the fifth posture transformation relationship, the eighth posture transformation relationship and the ninth posture transformation relationship, a second posture transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the second sensor is obtained.

7. A calibration method, characterized in that: include: The first sensor identifies the second calibration plate, thereby obtaining a fourth posture transformation relationship between the coordinate system of the second calibration plate and the coordinate system of the first sensor; The third sensor identifies the first calibration plate, thereby obtaining a fifth posture transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the third sensor, wherein the second sensor is fixedly connected to the first calibration plate; The third sensor identifies the second calibration plate, thereby obtaining a sixth posture transformation relationship between the coordinate system of the second calibration plate and the coordinate system of the third sensor; According to the fourth posture transformation relationship, the fifth posture transformation relationship and the sixth posture transformation relationship, a first posture transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the first sensor is obtained.

8. The method according to claim 7, characterized in that The first calibration plate is provided with at least one first calibration indicator, and the third sensor obtains the position and posture of the first calibration plate relative to the coordinate system of the third sensor by identifying the at least one first calibration indicator; The second calibration plate is provided with at least one second calibration indicator, the first sensor obtains the position and posture of the second calibration plate relative to the first sensor by identifying the at least one second calibration indicator, and the third sensor obtains the position and posture of the second calibration plate relative to the third sensor by identifying the at least one second calibration indicator.

9. The method according to claim 7 or 8, characterized in that The method further comprises: The second sensor identifies the second calibration plate, thereby obtaining a seventh posture transformation relationship of a coordinate system of the second calibration plate relative to a coordinate system of the second sensor, wherein the second sensor is fixedly connected to the first calibration plate; According to the fourth posture transformation relationship, the fifth posture transformation relationship and the seventh posture transformation relationship, a second posture transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the second sensor is obtained.

10. A device for calibration, characterized in that: include: An acquisition module, configured to respectively identify a first calibration plate included in the calibration device at a first moment and a second moment and obtain recognition results, and obtain a fourth posture transformation relationship and a fifth posture transformation relationship of a coordinate system of the first calibration plate relative to a coordinate system of a third sensor, wherein a posture of the first calibration plate at the first moment is different from a posture at the second moment; The acquisition module is further used to identify the second calibration plate at the first moment and the second moment respectively, so as to obtain a sixth posture transformation relationship and a seventh posture transformation relationship of the coordinate system of the second calibration plate relative to the coordinate system of the first sensor, wherein the first sensor is fixedly connected to the first calibration plate, and the third sensor is fixedly connected to the second calibration plate; A processing module is used to obtain a first posture transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the first sensor according to the fourth posture transformation relationship, the fifth posture transformation relationship, the sixth posture transformation relationship and the seventh posture transformation relationship.

11. A device for calibration, characterized in that: include: An acquisition module, used for identifying a second calibration plate, thereby obtaining a fourth posture transformation relationship of a coordinate system of the second calibration plate relative to a coordinate system of the first sensor; The acquisition module is further used to identify the first calibration plate, so as to obtain a fifth posture transformation relationship between the coordinate system of the first calibration plate and the coordinate system of the third sensor; The acquisition module is further used to identify the second calibration plate, so as to obtain a sixth posture transformation relationship between the coordinate system of the second calibration plate and the coordinate system of the third sensor; A processing module is used to obtain a first posture transformation relationship of the coordinate system of the first calibration plate relative to the coordinate system of the first sensor according to the fourth posture transformation relationship, the fifth posture transformation relationship and the sixth posture transformation relationship.

12. A device for calibration, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 4 to 6 are implemented; or, when the processor executes the computer program, the steps of the method according to any one of claims 7 to 9 are implemented.

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