The application discloses an on-board multi-sensor space-time online calibration method in a fully mechanized
coal mining face complex environment and belongs to the technical field of
image processing and environment
perception. With the main IMU time axis as a unified reference, the time offset of the camera and the
laser radar inertial measurement is estimated and compensated online, and a continuous time
pose prediction model is established. The
point cloud is subjected to motion compensation and time unification, combined with the
time sequence motion and
echo intensity consistency discrimination to remove the
jitter ghost points, and the de-
ghosting point cloud is obtained. Combined with the camera continuous time
pose and the
rolling shutter exposure model of each row, a spatially changing blur kernel is constructed, the non-
blind deconvolution of the image is carried out to obtain a clear image. Finally, based on the de-
ghosting point cloud and the clear image, a cross-
modal structure consistency constraint is constructed, and the camera-
laser radar space external participation time offset is solved through nonlinear optimization. The application can realize high-precision, lightweight and sustainable online space-time calibration, and improve the stability and reliability of the multi-
modal data fusion of the on-board equipment in the fully mechanized
coal mining face.