A radar-panoramic camera joint calibration method and system based on engineered coordinate transformation and robust homography estimation

By employing engineered coordinate transformation and robust homography estimation methods, the instability and distortion issues in the calibration process of panoramic cameras and radars are resolved, achieving high-precision calibration results applicable to fields such as maritime monitoring, unmanned agricultural machinery, and mobile robots.

CN122336014APending Publication Date: 2026-07-03HARBIN ENG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
HARBIN ENG UNIV
Filing Date
2026-04-07
Publication Date
2026-07-03

AI Technical Summary

Technical Problem

Existing technologies suffer from problems such as calibration instability, discontinuity across the suture zone, polar distortion interference, and inconsistent zero-point heading during the calibration process between panoramic cameras and radars, leading to inaccurate calibration results.

Method used

A method based on engineering coordinate transformation and robust homography estimation is adopted. By collecting the pixel coordinates of panoramic images and radar polar coordinates, registration samples are constructed, and engineering coordinate transformation is performed to establish the periodic mapping relationship between radar azimuth and panoramic image pixel coordinates. Combined with RANSAC robust estimation, the heading offset parameters and homography matrix are optimized to achieve high-precision calibration.

Benefits of technology

It achieves high-precision and robust calibration between panoramic cameras and radar, solves the interference of stitching discontinuity and polar distortion, and ensures calibration consistency and accuracy across the entire field of view, making it suitable for widespread application in practical systems.

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Abstract

This invention provides a joint calibration method and system for radar-panoramic cameras based on engineered coordinate transformation and robust homography estimation. The method includes: performing unit conversion and engineered coordinate transformation on the radar polar coordinates to obtain radar planar coordinates; establishing a periodic mapping relationship between the radar azimuth angle and the pixel coordinates of the panoramic image; constructing a set of corresponding points between the radar planar coordinates and the pixel coordinates of the panoramic image based on the radar planar coordinates and the periodic mapping relationship; obtaining initial values ​​for the homography matrix based on the corresponding point sets; introducing a heading offset parameter based on the initial values ​​of the homography matrix, and using RANSAC robust estimation to jointly optimize the heading offset parameter and the homography matrix to obtain the final calibration results for the homography matrix and heading offset parameter. This invention maintains cross-boundary geometric continuity under the conditions of a 360° horizontal field of view and the presence of stitching bands, and significantly improves the calibration robustness and reproducibility in polar regions and wide scenes by robustly suppressing outliers through statistical methods.
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