CN107976668A - A kind of method of outer parameter between definite camera and laser radar - Google Patents
A kind of method of outer parameter between definite camera and laser radar Download PDFInfo
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- CN107976668A CN107976668A CN201610922058.0A CN201610922058A CN107976668A CN 107976668 A CN107976668 A CN 107976668A CN 201610922058 A CN201610922058 A CN 201610922058A CN 107976668 A CN107976668 A CN 107976668A
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- scaling board
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- 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
Abstract
Description
Claims (6)
- A kind of 1. method of the outer parameter between definite camera and laser radar, it is characterised in that the described method includes:The AprilTag of multiple differences ID is respectively arranged to each angle of polygon scaling board;Each first corner location coordinate that camera calibration arrives is obtained, wherein, the first corner location coordinate is led to by the camera Cross and detect each AprilTag acquisitions;Each second corner location coordinate is obtained, wherein, the second corner location coordinate is each angle of the polygon scaling board Angular coordinate;According to the first corner location coordinate and the second corner location coordinate got, camera and laser radar are determined Between outer parameter.
- 2. according to the method described in claim 1, it is characterized in that, it is described acquisition each second corner location coordinate the step of wrap Include:The cloud data information on the polygon scaling board is obtained, wherein, the cloud data information is detected by laser radar The laser that polygon scaling board is reflected back obtains;According to the cloud data information, each edge point position coordinate on the polygon scaling board edge is calculated;According to the edge point position coordinate, the linear equation on each bar side of the polygon scaling board is fitted;According to the linear equation on each bar side, the second corner location coordinate of each angle point of polygon scaling board is determined.
- It is 3. according to the method described in claim 1, it is characterized in that, described according to the first corner location coordinate and described Two corner location coordinates, the step of determining the outer parameter between camera and laser radar, include:According to the first corner location coordinate, the first angle point matrix is generated;According to the second corner location coordinate, the second angle point matrix is generated;Obtain scalar and calibrated intrinsic parameter;By the first angle point matrix, the second angle point matrix, scalar and intrinsic parameter input constraint equation;The outer parameter output valve being calculated being determined as between camera and laser radar.
- 4. according to the method described in claim 3, it is characterized in that, according to equation below calculate the camera and laser radar it Between outer parameter:S* (u, v, 1) ^T=K* [R, t] * (X, Y, Z, 1) ^T;Wherein, the single angle point of scaling board is (u, v, 1) in the positional representation of camera plane coordinate system, under laser radar coordinate system Positional representation be (X, Y, Z, 1), coordinate is homogeneity expression way;S is a scalar, represents scale parameters, and ^T represents square Transposition in battle array, K is intrinsic parameter, and K is 3x3 matrixes;The outer parameter of [R, t] between camera and laser radar, [R, t] are 3x4 Matrix.
- 5. according to the method described in claim 1, it is characterized in that, each side of polygon scaling board is swept with laser radar Retouching direction has angle.
- 6. according to the method described in claim 1, it is characterized in that, it is directed to each AprilTag, the angle point of the AprilTag The direction at direction angle corresponding with the AprilTag is consistent.
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Cited By (22)
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CN108627849A (en) * | 2018-07-25 | 2018-10-09 | 南京富锐光电科技有限公司 | A kind of range laser radar system applied to high speed camera calibration |
CN109239727A (en) * | 2018-09-11 | 2019-01-18 | 北京理工大学 | A kind of distance measuring method of combination solid-state face battle array laser radar and double CCD cameras |
CN109270534A (en) * | 2018-05-07 | 2019-01-25 | 西安交通大学 | A kind of intelligent vehicle laser sensor and camera online calibration method |
CN109633612A (en) * | 2018-10-18 | 2019-04-16 | 浙江大学 | A kind of single line laser radar that nothing is observed jointly and Camera extrinsic scaling method |
CN109658461A (en) * | 2018-12-24 | 2019-04-19 | 中国电子科技集团公司第二十研究所 | A kind of unmanned plane localization method of the cooperation two dimensional code based on virtual simulation environment |
CN109712190A (en) * | 2018-11-10 | 2019-05-03 | 浙江大学 | The outer ginseng scaling method of three-dimensional laser scanner and three-dimensional laser radar |
CN109946703A (en) * | 2019-04-10 | 2019-06-28 | 北京小马智行科技有限公司 | A kind of sensor attitude method of adjustment and device |
CN110021046A (en) * | 2019-03-05 | 2019-07-16 | 中国科学院计算技术研究所 | The external parameters calibration method and system of camera and laser radar combination sensor |
CN110148180A (en) * | 2019-04-22 | 2019-08-20 | 河海大学 | A kind of laser radar and camera fusing device and scaling method |
CN110361717A (en) * | 2019-07-31 | 2019-10-22 | 苏州玖物互通智能科技有限公司 | Laser radar-camera combined calibration target and combined calibration method |
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CN111638499A (en) * | 2020-05-08 | 2020-09-08 | 上海交通大学 | Camera-laser radar relative external reference calibration method based on laser radar reflection intensity point characteristics |
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CN112270713A (en) * | 2020-10-14 | 2021-01-26 | 北京航空航天大学杭州创新研究院 | Calibration method and device, storage medium and electronic device |
CN112308928A (en) * | 2020-10-27 | 2021-02-02 | 北京航空航天大学 | Camera without calibration device and laser radar automatic calibration method |
CN112734857A (en) * | 2021-01-08 | 2021-04-30 | 香港理工大学深圳研究院 | Calibration method for camera internal reference and camera relative laser radar external reference and electronic equipment |
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CN113034567A (en) * | 2021-03-31 | 2021-06-25 | 奥比中光科技集团股份有限公司 | Depth truth value acquisition method, device and system and depth camera |
CN113281723A (en) * | 2021-05-07 | 2021-08-20 | 北京航空航天大学 | Calibration method for structural parameters between 3D laser radar and camera based on AR tag |
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CN116148809A (en) * | 2023-04-04 | 2023-05-23 | 中储粮成都储藏研究院有限公司 | Automatic generation method and system for grain vehicle sampling point based on laser radar scanning and positioning |
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CN112734857A (en) * | 2021-01-08 | 2021-04-30 | 香港理工大学深圳研究院 | Calibration method for camera internal reference and camera relative laser radar external reference and electronic equipment |
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CN113281723A (en) * | 2021-05-07 | 2021-08-20 | 北京航空航天大学 | Calibration method for structural parameters between 3D laser radar and camera based on AR tag |
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CN116148809A (en) * | 2023-04-04 | 2023-05-23 | 中储粮成都储藏研究院有限公司 | Automatic generation method and system for grain vehicle sampling point based on laser radar scanning and positioning |
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