FR3062507B1 - METHOD AND DEVICE FOR THE CALIBRATION OF A COLLECTION SYSTEM INCLUDING A SET OF LIDAR TELEMETERS - Google Patents

METHOD AND DEVICE FOR THE CALIBRATION OF A COLLECTION SYSTEM INCLUDING A SET OF LIDAR TELEMETERS Download PDF

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Publication number
FR3062507B1
FR3062507B1 FR1750802A FR1750802A FR3062507B1 FR 3062507 B1 FR3062507 B1 FR 3062507B1 FR 1750802 A FR1750802 A FR 1750802A FR 1750802 A FR1750802 A FR 1750802A FR 3062507 B1 FR3062507 B1 FR 3062507B1
Authority
FR
France
Prior art keywords
telemeters
lidar
calibration
system including
collection system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
FR1750802A
Other languages
French (fr)
Other versions
FR3062507A1 (en
Inventor
Michel Dhome
Eric Royer
Morgan Slade
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Centre National de la Recherche Scientifique CNRS
Universite Clermont Auvergne
Original Assignee
Centre National de la Recherche Scientifique CNRS
Universite Clermont Auvergne
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Centre National de la Recherche Scientifique CNRS, Universite Clermont Auvergne filed Critical Centre National de la Recherche Scientifique CNRS
Priority to FR1750802A priority Critical patent/FR3062507B1/en
Priority to PCT/FR2018/050210 priority patent/WO2018142057A1/en
Publication of FR3062507A1 publication Critical patent/FR3062507A1/en
Application granted granted Critical
Publication of FR3062507B1 publication Critical patent/FR3062507B1/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S7/4972—Alignment of sensor
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un procédé de détermination des paramètres extrinsèques d'un système de perception embarqué sur un véhicule (100) parcourant un trajet et comprenant un ensemble de télémètres (L1, L2) fournissant des flux de trames à un dispositif de traitement (110), ce procédé comprenant la détermination de la pose du véhicule en fonction du temps, et étant caractérisé en ce qu'il comprend la détection d'amers au sein des flux de trames correspondant à des amers du monde réel, puis la détermination des paramètres extrinsèques minimisant une fonction de coût mesurant les écarts entre les amers détectés associés à un même amer du monde réel.The invention relates to a method for determining the extrinsic parameters of a perception system on board a vehicle (100) traveling a route and comprising a set of rangefinders (L1, L2) supplying frame flows to a processing device (110 ), this method comprising the determination of the pose of the vehicle as a function of time, and being characterized in that it comprises the detection of bitters within the flow of frames corresponding to bitters in the real world, then the determination of the parameters extrinsic minimizing a cost function measuring the differences between the detected landmarks associated with the same real world landmark.

FR1750802A 2017-01-31 2017-01-31 METHOD AND DEVICE FOR THE CALIBRATION OF A COLLECTION SYSTEM INCLUDING A SET OF LIDAR TELEMETERS Expired - Fee Related FR3062507B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1750802A FR3062507B1 (en) 2017-01-31 2017-01-31 METHOD AND DEVICE FOR THE CALIBRATION OF A COLLECTION SYSTEM INCLUDING A SET OF LIDAR TELEMETERS
PCT/FR2018/050210 WO2018142057A1 (en) 2017-01-31 2018-01-30 Method and device for calibrating a perception system including a set of lidar rangefinders

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1750802A FR3062507B1 (en) 2017-01-31 2017-01-31 METHOD AND DEVICE FOR THE CALIBRATION OF A COLLECTION SYSTEM INCLUDING A SET OF LIDAR TELEMETERS
FR1750802 2017-01-31

Publications (2)

Publication Number Publication Date
FR3062507A1 FR3062507A1 (en) 2018-08-03
FR3062507B1 true FR3062507B1 (en) 2020-05-15

Family

ID=59253596

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1750802A Expired - Fee Related FR3062507B1 (en) 2017-01-31 2017-01-31 METHOD AND DEVICE FOR THE CALIBRATION OF A COLLECTION SYSTEM INCLUDING A SET OF LIDAR TELEMETERS

Country Status (2)

Country Link
FR (1) FR3062507B1 (en)
WO (1) WO2018142057A1 (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3699630A1 (en) 2019-02-25 2020-08-26 KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH System and method for compensating a motion of a vehicle component
US11117591B2 (en) * 2019-05-08 2021-09-14 Pony Ai Inc. System and method for recalibration of an uncalibrated sensor
US10726579B1 (en) 2019-11-13 2020-07-28 Honda Motor Co., Ltd. LiDAR-camera calibration
US11210535B1 (en) 2020-08-17 2021-12-28 Ford Global Technologies, Llc Sensor fusion
CN112051591B (en) * 2020-08-31 2022-11-29 广州文远知行科技有限公司 Detection method and related device for laser radar and inertial measurement unit
CN113311412B (en) * 2021-05-13 2024-03-01 哈尔滨工业大学 Six-dimensional external parameter calibration method for laser radar sensor of mobile robot

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2981185B1 (en) 2011-10-10 2014-02-14 Univ Blaise Pascal Clermont Ii METHOD OF CALIBRATING A COMPUTER VISION SYSTEM ON A MOBILE

Also Published As

Publication number Publication date
FR3062507A1 (en) 2018-08-03
WO2018142057A1 (en) 2018-08-09

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