CN113327289A - Method for simultaneously calibrating internal and external parameters of multi-source heterogeneous sensor - Google Patents
Method for simultaneously calibrating internal and external parameters of multi-source heterogeneous sensor Download PDFInfo
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Abstract
The invention relates to the technical field of robot sensing, in particular to a simultaneous internal and external reference calibration method of a multi-source heterogeneous sensor, which comprises the following steps: preprocessing a calibration plate; acquiring image point data of a multi-source heterogeneous sensor consisting of a three-dimensional laser radar, a vision camera, a thermal camera and an inertia measurement unit; calculating internal parameters of a visual camera and a thermal camera; calculating external parameters of the radar, the vision camera and the thermal sensing camera; calculating external parameters of the vision camera, the thermal camera and the inertia measurement unit; and optimizing the graph to obtain the final external parameters. Compared with the prior art, the invention has the following advantages: the use complexity is low, in order to realize the calibration of the sensor suite, various different calibration plates are often needed to be used in the prior art, and the process is complicated. The accuracy is high, and weights are given according to the uncertainty of parameters among different sensors so as to acquire the optimal parameters. The user-friendly calibration plate is user-friendly, excessive professional knowledge is not needed, and an ordinary user only needs to hold the sensor suite to acquire calibration plate data.
Description
Technical Field
The invention relates to the technical field of robot sensing, in particular to a simultaneous internal and external reference calibration method of a multi-source heterogeneous sensor.
Background
With the advent of the intelligent era, particularly the development of mobile robots, multi-source heterogeneous sensors are being increasingly applied to various intelligent systems. This is mainly due to the complementary properties of the different sensors, in particular: three-dimensional lidar can provide accurate distance information, but three-dimensional point clouds are often sparse and lack texture information. Visual cameras can just provide rich, dense texture information, but they are sensitive to light and do not work well in low light conditions. The thermal camera is insensitive to illumination and can robustly work under different illumination conditions.
Although the three sensors have advantages, the three sensors have a common defect that the frame rate is low, and the three sensors cannot be applied to high-speed dynamic scenes. The inertial measurement unit IMU generally has a higher frame rate, so that this disadvantage can be compensated for. In order to fully utilize the complementary information of different sensors, accurate internal and external parameter calibration is indispensable. However, the current calibration technology cannot simultaneously realize internal and external reference calibration of the three-dimensional laser radar, the vision camera, the thermal camera and the inertia measurement unit. The current practice is often realized by calibration of two sensors. Therefore, the calibration process is complicated, and a plurality of different calibration plates are required. Due to the use of multiple calibration plates, calibration errors are also large as errors are transferred. What is worse, the existing calibration method is not user-friendly, and requires the user to have related professional knowledge, which limits the use scene of the sensor suite. Therefore, a convenient, robust and accurate simultaneous internal and external parameter calibration technology is needed at present, the internal and external parameter calibration of the three-dimensional laser radar, the vision camera, the thermal camera and the inertia measurement unit is realized, the problems of large calibration error, complicated calibration process and unfriendliness of users of the conventional multi-source heterogeneous sensor are solved, and the application field of the sensor suite is further expanded.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides a simultaneous internal and external reference calibration method of a multi-source heterogeneous sensor.
In order to achieve the purpose, the invention adopts the following scheme:
a simultaneous internal and external reference calibration method for a multi-source heterogeneous sensor comprises the following steps:
s10 calibrating board pretreatment;
s11, acquiring image point data of a multi-source heterogeneous sensor consisting of a three-dimensional laser radar, a vision camera, a thermal camera and an inertia measurement unit;
s12 calculating internal parameters of the vision camera and the thermal camera;
s13 calculating external parameters of the radar, the vision camera and the thermal camera;
s14 calculating external parameters of the vision camera, the thermal camera and the inertia measurement unit;
and S15, according to the external parameters obtained in the steps S13 and S14 and the uncertainties of different sensor pairs, giving weights to perform graph optimization once, and further obtaining the final external parameters.
Further, the calibration plate pre-treatment of the S10 step includes heating or cooling the calibration plate, and then aligning the sensor assembly with the calibration plate.
Further, the multi-source heterogeneous sensor image point data acquisition comprising the three-dimensional laser radar, the vision camera, the thermal camera and the inertial measurement unit in the step S11 includes: and moving the three-dimensional laser radar, the vision camera, the thermal sensing camera and the inertia measurement unit to different poses, storing corresponding three-dimensional point cloud, color image and thermal sensing image, and simultaneously recording pose information of the inertia measurement unit in the running process.
Further, the step of S12 calculating the internal parameters of the vision camera and the thermal camera includes: according to the circle centers detected by the vision camera and the thermal camera, initial internal parameters are calculated through a homography matrix, and then fine internal parameters are calculated through a nonlinear optimization method.
Further, the step S13 of calculating external parameters of the radar, the vision camera and the thermal camera includes: the characteristics of points, lines and surfaces are respectively detected in the point cloud, the color image and the thermal image, and then the external parameters are solved through nonlinear optimization, so that the characteristic matching error is minimized.
Further, the step S14 of calculating the external parameters of the vision camera, the thermal camera and the inertial measurement unit includes: and calculating a vision camera, a thermal camera and an inertia measuring unit odometer, and further, using an eye-hand calibration method AX (X) and XB (X).
An intelligent robot comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the method of simultaneous internal and external parameter calibration of a multi-source heterogeneous sensor according to any one of claims 1 to 7 when executing the computer program.
Compared with the prior art, the invention has the following advantages: 1. the use complexity is low, in order to realize the calibration of the sensor suite, various different calibration plates are often needed to be used in the prior art, and the process is complicated. The simultaneous internal and external reference calibration method of the multisource heterogeneous sensor only needs one calibration plate, and simultaneously realizes the internal and external reference calibration. 2. The method for calibrating the internal and external parameters of the multisource heterogeneous sensor at the same time has high precision, continuously refines the calibration parameters through calibration from coarse to fine, and gives weights according to the uncertainty of the parameters among different sensors so as to obtain the optimal parameters. 3. The method is user-friendly, does not need excessive professional knowledge, and a common user only needs to hold the sensor suite to collect calibration board data, so that the algorithm can automatically select reliable data and complete calibration, and the method is simple to operate and easy to operate.
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The present application will be described in further detail with reference to the following drawings and detailed description.
FIG. 1 is a schematic step diagram of a simultaneous internal and external reference calibration method of a multi-source heterogeneous sensor according to the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1, a simultaneous internal and external reference calibration method for a multi-source heterogeneous sensor includes the following steps:
s10 calibrating board pretreatment;
s11, acquiring image point data of a multi-source heterogeneous sensor consisting of a three-dimensional laser radar, a vision camera, a thermal camera and an inertia measurement unit;
s12 calculating internal parameters of the vision camera and the thermal camera;
s13 calculating external parameters of the radar, the vision camera and the thermal camera;
s14 calculating external parameters of the vision camera, the thermal camera and the inertia measurement unit;
and S15, according to the external parameters obtained in the steps S13 and S14 and the uncertainties of different sensor pairs, giving weights to perform graph optimization once, and further obtaining the final external parameters. The method for calibrating the internal and external parameters of the multisource heterogeneous sensor at the same time has high precision, continuously refines the calibration parameters through calibration from coarse to fine, and gives weights according to the uncertainty of the parameters among different sensors so as to obtain the optimal parameters.
The use complexity is low, in order to realize the calibration of the sensor suite, various different calibration plates are often needed to be used in the prior art, and the process is complicated. The simultaneous internal and external reference calibration method of the multisource heterogeneous sensor only needs one calibration plate, and simultaneously realizes the internal and external reference calibration.
Preferably, the calibration plate preprocessing of the S10 step includes heating or cooling the calibration plate, and then aligning the sensor assembly with the calibration plate.
Preferably, the image point data acquisition of the multi-source heterogeneous sensor composed of the three-dimensional laser radar, the vision camera, the thermal camera and the inertial measurement unit in the step S11 includes: and moving the three-dimensional laser radar, the vision camera, the thermal sensing camera and the inertia measurement unit to different poses, storing corresponding three-dimensional point cloud, color image and thermal sensing image, and simultaneously recording pose information of the inertia measurement unit in the running process.
Preferably, the step of S12 calculating the internal reference of the vision camera and the thermal camera includes: according to the circle centers detected by the vision camera and the thermal camera, initial internal parameters are calculated through a homography matrix, and then fine internal parameters are calculated through a nonlinear optimization method.
Preferably, the step S13 of calculating the external parameters of the radar, the vision camera and the thermal camera includes: the characteristics of points, lines and surfaces are respectively detected in the point cloud, the color image and the thermal image, and then the external parameters are solved through nonlinear optimization, so that the characteristic matching error is minimized.
Preferably, the step S14 of calculating the external parameters of the vision camera, the thermal camera and the inertial measurement unit includes: and (3) calculating a vision camera, a thermal camera and an inertia measurement unit odometer, and preferably, using an eye-hand calibration method AX (XB).
An intelligent robot comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the method of simultaneous internal and external parameter calibration of a multi-source heterogeneous sensor according to any one of claims 1 to 7 when executing the computer program.
Compared with the prior art, the invention has the following advantages: 1. the use complexity is low, in order to realize the calibration of the sensor suite, various different calibration plates are often needed to be used in the prior art, and the process is complicated. The simultaneous internal and external reference calibration method of the multisource heterogeneous sensor only needs one calibration plate, and simultaneously realizes the internal and external reference calibration. 2. The method for calibrating the internal and external parameters of the multisource heterogeneous sensor at the same time has high precision, continuously refines the calibration parameters through calibration from coarse to fine, and gives weights according to the uncertainty of the parameters among different sensors so as to obtain the optimal parameters. 3. The method is user-friendly, does not need excessive professional knowledge, and a common user only needs to hold the sensor suite to collect calibration board data, so that the algorithm can automatically select reliable data and complete calibration, and the method is simple to operate and easy to operate.
The foregoing is only a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and substitutions can be made without departing from the technical principle of the present application, and these modifications and substitutions should also be regarded as the protection scope of the present application.
Claims (8)
1. A simultaneous internal and external reference calibration method of a multi-source heterogeneous sensor is characterized by comprising the following steps:
s10 calibrating board pretreatment;
s11, acquiring image point data of a multi-source heterogeneous sensor consisting of a three-dimensional laser radar, a vision camera, a thermal camera and an inertia measurement unit;
s12 calculating internal parameters of the vision camera and the thermal camera;
s13 calculating external parameters of the radar, the vision camera and the thermal camera;
s14 calculating external parameters of the vision camera, the thermal camera and the inertia measurement unit;
and S15, according to the external parameters obtained in the steps S13 and S14 and the uncertainties of different sensor pairs, giving weights to perform graph optimization once, and further obtaining the final external parameters.
2. The method for simultaneously calibrating internal and external parameters of a multi-source heterogeneous sensor according to claim 1, wherein the calibration plate pretreatment of the S10 step comprises heating or cooling the calibration plate, and then aligning the sensor suite with the calibration plate.
3. The method for simultaneously calibrating internal and external parameters of a multi-source heterogeneous sensor according to claim 1, wherein the step S11 of acquiring the image point data of the multi-source heterogeneous sensor consisting of the three-dimensional laser radar, the vision camera, the thermal camera and the inertial measurement unit comprises: and moving the three-dimensional laser radar, the vision camera, the thermal sensing camera and the inertia measurement unit to different poses, storing corresponding three-dimensional point cloud, color image and thermal sensing image, and simultaneously recording pose information of the inertia measurement unit in the running process.
4. The method for simultaneously calibrating internal and external parameters of a multi-source heterogeneous sensor according to claim 1, wherein the step of calculating internal parameters of a vision camera and a thermal camera in step S12 comprises: according to the circle centers detected by the vision camera and the thermal camera, initial internal parameters are calculated through a homography matrix, and then fine internal parameters are calculated through a nonlinear optimization method.
5. The method for simultaneously calibrating internal and external parameters of a multi-source heterogeneous sensor according to claim 1, wherein the step of S13 for calculating the external parameters of the radar, the vision camera and the thermal camera comprises: the characteristics of points, lines and surfaces are respectively detected in the point cloud, the color image and the thermal image, and then the external parameters are solved through nonlinear optimization, so that the characteristic matching error is minimized.
6. The method for simultaneously calibrating internal and external parameters of a multi-source heterogeneous sensor according to claim 1, wherein the step of calculating the external parameters of the vision camera, the thermal camera and the inertial measurement unit in step S14 comprises: and calculating by a vision camera, a thermal camera and an inertia measurement unit odometer, and solving the external parameters by a calibration method.
7. The method for simultaneously calibrating the internal parameters and the external parameters of the multisource heterogeneous sensor according to claim 6, wherein the calibration method is an eye-hand calibration method AX (XB).
8. An intelligent robot comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method for simultaneous internal and external parameter calibration of a multi-source heterogeneous sensor according to any one of claims 1 to 7 when executing the computer program.
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Application publication date: 20210831 |