External parameter calibration system
Through the total station, the coordinates of the device to be calibrated and the calibration auxiliary components are detected, combined with the marking rod and visual marking, the problem of low external parameter calibration accuracy is solved, and the external parameter calibration with higher accuracy is achieved.
Patent Information
- Application Number
- CN202422517731.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-17
- Publication Date
- 2025-08-01
- Estimated Expiration
- 2034-10-17
AI Technical Summary
The existing external parameter calibration methods have low accuracy, especially when scanning with lidar, which is insufficient.
The total station is used to detect the coordinates of the device to be calibrated and the calibration auxiliary elements, and combine the calibration auxiliary elements such as three vertical marking rods and visual markings, such as LED light arrays, to improve the accuracy and accuracy of external parameter calibration.
Through the high-precision coordinate detection of the total station, the calibration auxiliary components are used to significantly improve the accuracy and accuracy of external parameter calibration.
Smart Images
Figure CN223180659U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of computer vision technology, and specifically to an extrinsic calibration system. Background Art
[0002] Extrinsic Calibration is an important task in the fields of computer vision and robotics. It is used to determine the relative position and attitude information between devices (such as an image acquisition device and a sensor, an image acquisition device and a lidar).
[0003] Currently, when performing extrinsic calibration, taking the image acquisition device and the lidar as an example, a calibration board is usually required, and the lidar is used to scan the calibration board. However, the scanning accuracy of the lidar itself is not high, so the accuracy of extrinsic calibration using lidar scanning is not high.
[0004] It can be seen that the existing extrinsic calibration methods have low accuracy. Summary of the Utility Model
[0005] The purpose of this application is to provide an extrinsic calibration system to solve the technical problem of low accuracy in the existing extrinsic calibration methods.
[0006] To achieve the above purpose, this application provides an extrinsic calibration system, including:
[0007] A device to be calibrated;
[0008] A lidar;
[0009] A calibration auxiliary element, arranged on the lidar;
[0010] A total station, used to detect the coordinates of the device to be calibrated and the calibration auxiliary element to obtain the extrinsic parameters of the device to be calibrated relative to the lidar.
[0011] In some embodiments, the device to be calibrated is arranged on the lidar.
[0012] In some embodiments, the extrinsic calibration system further includes a working machine, and the device to be calibrated and the lidar are both arranged on the working machine.
[0013] In some embodiments, the calibration auxiliary element includes three marker poles perpendicular to each other in pairs, and the three marker poles are connected and form a connection point.
[0014] In some embodiments, the calibration auxiliary element further includes a connecting rod, one end of the connecting rod is connected to the connection point, and the other end of the connecting rod is fixed to the lidar through a nut.
[0015] In some embodiments, the extrinsic calibration system further includes a visual identifier.
[0016] In some embodiments, the visual identifier includes a plurality of LED lights arranged in an array.
[0017] In some embodiments, the plurality of LED lights have different colors.
[0018] In some embodiments, the device to be calibrated includes an image acquisition device, and the image acquisition device includes a housing, and the housing includes three mutually perpendicular edges.
[0019] In some embodiments, the device to be calibrated includes an inertial measurement unit.
[0020] Through the above technical solutions, the external parameter calibration system provided by the embodiments of the present application uses a total station for coordinate detection, and uses a calibration auxiliary component. By detecting the coordinates of the device to be calibrated and the calibration auxiliary component, the external parameters of the device to be calibrated relative to the lidar can be obtained, which can improve the accuracy and precision of the external parameter calibration.
[0021] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific embodiments section. Brief Description of the Drawings
[0022] The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation to the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts. In the drawings:
[0023] Figure 1 Schematically shows a structural diagram of an external parameter calibration system according to an embodiment of the present application;
[0024] Figure 2 Schematically shows a structural diagram of another external parameter calibration system according to an embodiment of the present application;
[0025] Figure 3 Schematically shows a structural diagram of yet another external parameter calibration system according to an embodiment of the present application;
[0026] Figure 4 Schematically shows a structural diagram of a device to be calibrated according to an embodiment of the present application;
[0027] Figure 5 Schematically shows a schematic diagram of the principle of an external parameter calibration system according to an embodiment of the present application;
[0028] Figure 6 Schematically shows a schematic diagram of the principle of another external parameter calibration system according to an embodiment of the present application.
[0029] Description of Reference Numerals
[0030] 100 External parameter calibration system 110 Device to be calibrated
[0031] 111 Image acquisition device 112 Housing
[0032] 112a Edge 120 LiDAR
[0033] 130 Calibration auxiliary components 131 Marking pole
[0034] 132 connection 133 connecting rod
[0035] 140 Total Station 150 Operating Machinery
[0036] 160 Visual Signage 161 LED Lights DETAILED DESCRIPTION
[0037] The following describes the specific embodiments of the present application in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present application and are not intended to limit the present application.
[0038] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.
[0039] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.
[0040] Figure 1 The schematic diagram of the structure of an external parameter calibration system according to an embodiment of the present application is shown. Figure 1 As shown, the embodiment of the present application provides an external parameter calibration system 100, including:
[0041] Device to be calibrated 110;
[0042] LiDAR 120;
[0043] The calibration auxiliary element 130 is disposed on the lidar 120;
[0044] The total station 140 is used to detect the coordinates of the device to be calibrated 110 and the calibration auxiliary element 130, so as to obtain the external parameters of the device to be calibrated 110 relative to the lidar 120.
[0045] Specifically, the device to be calibrated 110 refers to the target device that needs to be calibrated. The specific type of the device to be calibrated 110 can be set according to actual needs. For example, it can be an image acquisition device or an inertial measurement unit, and the embodiments of the present application do not limit this.
[0046] The lidar 120, whose English name is Laser Radar, is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of target objects. The working principle of the lidar is to emit detection signals (laser beams) to the target object, and then compare the received signals (target echoes) reflected from the target object with the transmitted signals. After appropriate processing, relevant information about the target object can be obtained. For example, parameters such as the distance, azimuth, height, speed, attitude, and even shape of the target object can be obtained, so as to detect, track and identify the target object.
[0047] The calibration auxiliary element 130 can be disposed on the lidar 120 to assist in external parameter calibration.
[0048] The total station 140, that is, the Electronic Tachometer Totalstation, is an intelligent surveying and mapping instrument integrating optics, mechanics and computer technology. It is a surveying and mapping instrument system integrating horizontal angle, vertical angle, distance (slant distance, horizontal distance), and height difference measurement functions, and is widely used in precision engineering surveying or deformation monitoring fields such as large-scale above-ground buildings and underground tunnel construction.
[0049] In the embodiments of the present application, the total station 140 is used to detect the coordinates of the device to be calibrated 110 and the calibration auxiliary element 130. Further, based on the coordinates of the device to be calibrated 110 and the calibration auxiliary element 130, the external parameters of the device to be calibrated relative to the lidar are obtained. Since the accuracy of the total station 140 can reach the millimeter level, the accuracy and accuracy of external parameter calibration can be improved. It is easy to understand that detecting the coordinates of the device to be calibrated 110 and the calibration auxiliary element 130 is a conventional function of the total station 140. In the case of obtaining the coordinates of the device to be calibrated 110 and the calibration auxiliary element 130, determining the relative pose of the two to achieve external parameter calibration can also be realized by existing algorithms. The embodiments of the present application provide a hardware platform that can achieve external parameter calibration, and do not specifically limit the algorithms that can be used during the calibration process, nor do they elaborate on the available existing algorithms.
[0050] Next, the positional relationship between the device to be calibrated 110 and the lidar 120 in the embodiments of the present application will be introduced. The embodiments of the present application can at least achieve extrinsic parameter calibration in the following two scenarios.
[0051] In an alternative embodiment, the device to be calibrated 110 is disposed on the lidar 120.
[0052] As Figure 1 shown, the device to be calibrated 110 is disposed on the lidar 120, that is, the lidar 120 is fixedly connected to the device to be calibrated 110. Further, the device to be calibrated 110 and the calibration auxiliary element 130 are both disposed on the lidar 120.
[0053] In the embodiments of the present application, the device to be calibrated 110 and the calibration auxiliary element 130 are both disposed on the lidar 120, and the distance between the device to be calibrated 110 and the calibration auxiliary element 130 is close.
[0054] In an alternative embodiment, the extrinsic parameter calibration system 100 further includes a working machine 150, and the device to be calibrated 110 and the lidar 120 are both disposed on the working machine 150.
[0055] Please refer to Figure 2 , Figure 2 which schematically shows a structural diagram of another extrinsic parameter calibration system according to an embodiment of the present application. As Figure 2 shown, the device to be calibrated 110 and the lidar 120 are both disposed on the working machine 150. Compared with Figure 1 the situation shown, the distance between the device to be calibrated 110 and the calibration auxiliary element 130 is far.
[0056] It should be noted that Figure 2 only a part of the working machine 150 is schematically shown in
[0057] It can be understood that the working machine 150 can be set according to actual needs. For example, it can be a construction machine, an agricultural machine or a working robot, and the embodiments of the present application do not limit this.
[0058] That is to say, in the embodiments of the present application, regardless of whether the device to be calibrated 110 is fixedly connected to the lidar 120 and regardless of the distance between the two, extrinsic parameter calibration of the device to be calibrated 110 relative to the lidar 120 can be achieved whether the two are fixedly connected or not.
[0059] In an alternative embodiment, the calibration auxiliary element 130 includes three marker rods 131 that are perpendicular to each other in pairs, and the three marker rods 131 are connected to form a connection point 132.
[0060] Schematically, the calibration auxiliary element 130 provided in the embodiments of the present application includes three marking rods 131 that are perpendicular to each other in pairs. The three marking rods 131 are connected and form a connection point 132. That is, the three marking rods 131 are perpendicular to each other in pairs to form the form of a coordinate axis, so that the total station 140 can more quickly and accurately determine the coordinates of the calibration auxiliary element 130, and then obtain a more accurate external parameter calibration result.
[0061] In an optional implementation manner, the calibration auxiliary element 130 further includes a connecting rod 133. One end of the connecting rod 133 is connected to the connection point 132, and the other end of the connecting rod 133 is fixed to the lidar 120 through a nut.
[0062] Specifically, the calibration auxiliary element 130 further includes a connecting rod 133. One end of the connecting rod 133 is connected to the connection point 132, and the other end of the connecting rod 133 is fixed to the lidar 120 through a nut ( Figure 1 not shown in the figure). In the embodiments of the present application, the connecting rod 133 is in a Z shape.
[0063] It can be understood that the specific type of the nut can be set according to actual needs. For example, it can be a hexagonal nut, and the embodiments of the present application do not limit this.
[0064] In the embodiments of the present application, the connecting rod 133 can make the calibration auxiliary element 130 be more firmly arranged on the lidar 120, and improve the service life of the calibration auxiliary element 130 and the external parameter calibration system 100.
[0065] In an optional implementation manner, the external parameter calibration system 100 further includes a visual identifier 160.
[0066] Please refer to Figure 3 , Figure 3 which schematically shows a structural diagram of another external parameter calibration system according to the embodiments of the present application. As Figure 3 shown, the visual identifier 160 provided in the embodiments of the present application includes a metal plate, and a plurality of light-emitting devices can be arranged on the metal plate. The metal plate can be an aluminum alloy plate or other metal materials. The visual identifier 160 can also include a plurality of identifiers for visual recognition.
[0067] Schematically, the visual identifier 160 can be fixedly arranged in the scene where the external parameter calibration system 100 is used. For example, it can be arranged on a wall or the ground.
[0068] In the embodiments of the present application, when the device to be calibrated 110 is an image acquisition device, an image including the visual identifier 160 can be acquired by the image acquisition device, and the image can be processed such as image segmentation and image recognition to obtain the pose of the image acquisition device, thereby assisting in external parameter calibration.
[0069] In an alternative embodiment, the visual identifier 160 includes a QR code.
[0070] In an alternative embodiment, the visual identifier 160 includes a plurality of LED lights 161 arranged in an array.
[0071] An LED (Light-Emitting Diode) lamp is a light-emitting device using LEDs. LEDs can efficiently convert electrical energy into light energy and are widely used in displays and lighting.
[0072] Schematically, the plurality of LED lights 161 in the present application are arranged in an array. In this way, when the LED lights 151 have a certain arrangement rule, it is more convenient to perform image recognition on the image including the LED lights 161, improving the efficiency and accuracy of image recognition.
[0073] It can be understood that the number of LED lights 161 can be set according to actual needs. For example, it can be four or nine. The embodiments of the present application do not limit this.
[0074] In an alternative embodiment, the plurality of LED lights 161 have different colors.
[0075] Schematically, taking the number of LED lights 161 being four as an example, the colors of the four LED lights 161 can be blue, red, green, and yellow respectively. It can be understood that the colors of the LED lights 161 can also be other colors, such as black, purple, etc. The embodiments of the present application do not limit this.
[0076] In the embodiments of the present application, the colors of the LED lights are set differently to better distinguish them during image recognition, so as to improve the efficiency and accuracy of image recognition.
[0077] The embodiments of the present application can achieve the external parameter calibration of multiple different components. The following is an exemplary description.
[0078] In an alternative embodiment, the device to be calibrated 110 includes an image acquisition device 111. The image acquisition device includes a housing, and the housing includes three mutually perpendicular edges.
[0079] Please refer to Figure 4 , Figure 4 which schematically shows a structural diagram of a device to be calibrated according to an embodiment of the present application. As Figure 4 shown, the device to be calibrated 110 may include an image acquisition device 111, which is a device that can be used to acquire images. It can be understood that the image acquisition device 111 can be any one of a monocular camera, a binocular camera, and a depth camera. The embodiments of the present application do not limit this.
[0080] In an embodiment of the present application, the image acquisition device 111 includes a housing 112, and the housing 112 includes three mutually perpendicular edges 112a. Similar to the calibration auxiliary element 130, the three edges 112a are mutually perpendicular to form a coordinate axis, so that the total station 140 can more quickly and accurately determine the coordinates of the calibration image acquisition device 111, and thus obtain a more accurate external parameter calibration result.
[0081] In an alternative embodiment, the device 110 to be calibrated includes an inertial measurement unit.
[0082] An inertial measurement unit (IMU) is a device that measures the three-axis attitude angle and acceleration of an object.
[0083] The external parameter calibration system 100 provided by the embodiments of the present application can calibrate the external parameters of a variety of devices 110 to be calibrated relative to the lidar 120. Here, all the devices 110 to be calibrated are not enumerated, and a structure the same as or similar to that of the embodiments of the present application can be adopted according to actual needs.
[0084] Next, in conjunction with Figure 5 The specific use principle of the external parameter calibration system provided by the embodiments of the present application will be further introduced.
[0085] Please refer to Figure 5 , Figure 5 which schematically shows a schematic diagram of the principle of an external parameter calibration system according to an embodiment of the present application. As Figure 5 shown, taking the image acquisition device as the device 110 to be calibrated as an example for illustration. A first coordinate system is established by using the total station 140, a second coordinate system is established by using the device 110 to be calibrated, and a third coordinate system is established by using the calibration auxiliary element 130. Point P represents the optical center of the image acquisition device and is located on the z1 axis of the second coordinate system; point O represents a point on the calibration auxiliary element 130 and is located on the z axis of the third coordinate system. To make the illustration clearer, the device 110 to be calibrated and the total station 140 in Figure 1 are both simplified to a point, that is, the origin of their respective coordinate systems in Figure 5 , and the calibration auxiliary element 130 corresponds one-to-one to the three coordinate axes of the third coordinate system.
[0086] Use a total station 140 to measure the coordinates of six points, namely points A and B on the x-axis of the third coordinate system, points C and D on the y-axis, and points E and F on the z-axis. The direction vectors of the x, y, and z axes of the third coordinate system relative to the first coordinate system are n = B - A, p = D - C, and r = F - E. Similarly, the direction vectors of the x1, y1, and z1 axes of the second coordinate system relative to the first coordinate system are n1 = r, p1 = -p, and r1 = n. Normalize these two sets of direction vectors n, p, r, n1, p1, r1.
[0087] Using the aforementioned six direction vectors, the rotation matrix R of the lidar 120 relative to the total station 140 and the rotation matrix R of the device to be calibrated 110 relative to the total station 140 can be solved. v 。
[0088] Measure the coordinates of point O using the total station 140, and the translation vector t of the lidar 120 relative to the total station 140 can be obtained as t = [O x , O y， O z - β] T , where (O x , O y , O z ) represents the coordinates of point O; β represents the distance from point O to the center of the lidar 240 and can be deduced from the mechanical model of the calibration auxiliary component 130.
[0089] Measure the coordinates of point P using the total station 140, and the translation vector t of the device to be calibrated 110 relative to the total station 140 can be obtained as t v = [p x , p y， p z T , where (p x , p y , p z ) represents the coordinates of point P.
[0090] Thus, the external parameter T1 of the lidar 120 relative to the total station 140, which is T1 = [R, t], and the external parameter T of the device to be calibrated 110 relative to the total station 140, which is T v = [R v , t v , are obtained.
[0091] Furthermore, the external parameter T of the device to be calibrated 110 relative to the lidar 120 can be obtained as T c_to_l = T1 -1 * T v .
[0092] In addition, when the external parameter calibration system includes a visual marker 160, please also refer to Figure 6 ,Figure 6 The schematic diagram of another external parameter calibration system according to an embodiment of the present application is shown schematically. Figure 6 To make the diagram clearer, Figure 1 Total Station 140 in Figure 6 Simplified to a point, the device to be calibrated 110 is an image acquisition device for example. The visual identifier 230 includes four LED lights, and the centers of each LED light are point G, point H, point I, and point J. A visual identifier coordinate system is established based on the visual identifier 160, with point K as the coordinate origin and the direction from point H to point G as x. s Axis, the direction from point H to point I is y s The axis is perpendicular to the plane where the visual mark is located and points to the device to be calibrated 110. s axis( Figure 6 Points G and H are not shown in the figure. s The distance between point H and point I in the y-axis direction s If the distances in the axial direction are the same, the coordinates of the center points G, H, I and J of the four LED lights relative to the visual identification coordinate system can be obtained as G S =(h / 2, -h / 2, 0), H S =(-h / 2, -h / 2, 0), I S =(-h / 2, h / 2, 0), J S =(h / 2, h / 2, 0) where h represents the distance between two adjacent LED lights.
[0093] Calibrate the external parameters of the visual marker 160 relative to the total station 140. Use the total station 140 to obtain the coordinates of the centers of the four LED lights relative to the total station 140, then the coordinate axis x in the visual marker coordinate system is s Axis, y s axis and z s The direction vector of the axis relative to the total station 140 is k=G w -H w , m=I w -H w , l=k×m,G w Indicates the coordinates of point G relative to the total station 140, H w Indicates the coordinates of point H relative to the total station 140, I w represents the coordinates of point I relative to the total station 140. Then, the direction vector is normalized to obtain the rotation matrix of the visual marker 160 relative to the total station 140, which can be expressed by the following formula (1):
[0094]
[0095] Where R sRepresents the rotation matrix of the visual identifier 160 relative to the total station 140, (k x , k y , k z ) represents the direction vector of the x s axis of the coordinate system of the visual identifier relative to the total station 140, (m x , m y , m z ) represents the direction vector of the y s axis of the coordinate system of the visual identifier relative to the total station 140, (l x , l y , l z ) represents the direction vector of the z s axis of the coordinate system of the visual identifier relative to the total station 140.
[0096] The translation vector of the visual identifier 160 relative to the total station 140 is the mean value of the centers of the four LED lights, which can be expressed by the following formula (2):
[0097]
[0098] In the formula, ts represents the translation vector of the visual identifier 160 relative to the total station 140, represents the coordinates of point G relative to the total station 140, represents the coordinates of point H relative to the total station 140, represents the coordinates of point I relative to the total station 140, represents the coordinates of point J relative to the total station 140.
[0099] Thus, the external parameter T2 of the visual identifier 160 relative to the total station 140 is obtained as T2 = [R s , t s .
[0100] The external parameter calibration system provided by the embodiments of the present application uses a total station for coordinate detection, and uses a calibration auxiliary component to obtain the external parameters of the device to be calibrated relative to the lidar by detecting the coordinates of the device to be calibrated and the calibration auxiliary component, which can improve the accuracy and precision of the external parameter calibration.
[0101] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions. Moreover, the first feature being "above", "over" and "on" the second feature includes the first feature being directly above and diagonally above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "under" the second feature includes the first feature being directly below and diagonally below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature. [[ID=">
[0102] In the present application, unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed broadly. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.
[0103] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.
[0104] It should also be noted that the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article or apparatus comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or apparatus. Without further limitation, an element defined by the phrase "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising the element.
[0105] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present application.
Claims
1. An external parameter calibration system, characterized in that Comprising: The device to be calibrated; LiDAR; Calibration auxiliary element, disposed on the LiDAR; Total station, used to detect the coordinates of the device to be calibrated and the calibration auxiliary element, so as to obtain the external parameters of the device to be calibrated relative to the LiDAR.
2. The external parameter calibration system according to claim 1, wherein The device to be calibrated is disposed on the LiDAR.
3. The external parameter calibration system according to claim 1, characterized in that The external parameter calibration system further includes a working machine, and the device to be calibrated and the LiDAR are both disposed on the working machine.
4. The external parameter calibration system according to claim 1, wherein The calibration auxiliary element includes three marker poles that are perpendicular to each other in pairs, and the three marker poles are connected to form a connection point.
5. The external parameter calibration system according to claim 4, characterized in that The calibration auxiliary element further includes a connecting rod, one end of the connecting rod is connected to the connection point, and the other end of the connecting rod is fixed to the LiDAR through a nut.
6. The external parameter calibration system according to claim 1, wherein The external parameter calibration system further includes a visual identifier.
7. The external parameter calibration system according to claim 6, characterized in that, The visual identifier includes a plurality of LED lights arranged in an array.
8. The external parameter calibration system according to claim 7, wherein The colors of the plurality of LED lights are different.
9. The external parameter calibration system according to claim 1, characterized in that, The device to be calibrated includes an image acquisition device, and the image acquisition device includes a housing, and the housing includes three edges that are perpendicular to each other in pairs.
10. The external parameter calibration system according to claim 1, characterized in that, The device to be calibrated includes an inertial measurement unit.