The invention discloses a
laser radar-camera fusion calibration method and
system, and belongs to the field of calibration. According to the method, after a target is shot through a
laser radar and a camera, multiple pairs of corresponding three-dimensional point clouds and two-dimensional images are obtained;
angular point coordinates in the phase unwrapped image are obtained through the phase unwrapped image and the two-dimensional
real image, three-dimensional
angular point coordinates in the three-dimensional
point cloud are further obtained, the two-dimensional
angular point coordinates and the three-dimensional angular point coordinates are input into an external parameter calibration program of the
laser radar and the camera, a rigid matrix between two sensor coordinate systems is obtained, and calibration is completed. According to the method, a fast inversion method of angular points on a phase unwrapped
graph based on a
Gaussian elimination method is designed, a calculation strategy of laser radar
point cloud-phase unwrapped graph-angular point detection-angular point three-dimensional coordinates is provided, after three-dimensional
point cloud and two-dimensional images of a target are collected, data can be imported into a calibration program for automatic calculation, and the accuracy of calibration is improved. The method has the advantages of less human intervention, high
automation degree, fast operation and high efficiency.