CN107976669B - 一种确定相机与激光雷达之间的外参数的装置 - Google Patents
一种确定相机与激光雷达之间的外参数的装置 Download PDFInfo
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- CN107976669B CN107976669B CN201610922123.XA CN201610922123A CN107976669B CN 107976669 B CN107976669 B CN 107976669B CN 201610922123 A CN201610922123 A CN 201610922123A CN 107976669 B CN107976669 B CN 107976669B
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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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
- 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
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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
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Manufacturing & Machinery (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
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CN201610922123.XA CN107976669B (zh) | 2016-10-21 | 2016-10-21 | 一种确定相机与激光雷达之间的外参数的装置 |
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CN201610922123.XA CN107976669B (zh) | 2016-10-21 | 2016-10-21 | 一种确定相机与激光雷达之间的外参数的装置 |
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CN107976669A CN107976669A (zh) | 2018-05-01 |
CN107976669B true CN107976669B (zh) | 2020-03-31 |
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Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
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CN109215063B (zh) * | 2018-07-05 | 2021-12-17 | 中山大学 | 一种事件触发相机与三维激光雷达的配准方法 |
CN109084738B (zh) * | 2018-07-06 | 2021-09-17 | 上海宾通智能科技有限公司 | 一种可调节高度的标定系统及标定方法 |
CN108627849B (zh) * | 2018-07-25 | 2022-02-15 | 南京富锐光电科技有限公司 | 一种应用于高速相机校准的测距激光雷达系统 |
CN109633612B (zh) * | 2018-10-18 | 2020-06-16 | 浙江大学 | 一种无共同观测的单线激光雷达与相机外参标定方法 |
CN109901142B (zh) * | 2019-02-28 | 2021-03-30 | 东软睿驰汽车技术(沈阳)有限公司 | 一种标定方法及装置 |
CN111754578B (zh) * | 2019-03-26 | 2023-09-19 | 舜宇光学(浙江)研究院有限公司 | 用于激光雷达和相机的联合标定方法及其系统和电子设备 |
CN111862224B (zh) * | 2019-04-17 | 2023-09-19 | 杭州海康威视数字技术股份有限公司 | 确定相机与激光雷达之间外参的方法和装置 |
CN111913169B (zh) * | 2019-05-10 | 2023-08-22 | 北京四维图新科技股份有限公司 | 激光雷达内参、点云数据的修正方法、设备及存储介质 |
CN110189381B (zh) * | 2019-05-30 | 2021-12-03 | 北京眸视科技有限公司 | 外参数标定系统、方法、终端及可读存储介质 |
CN110161485B (zh) * | 2019-06-13 | 2021-03-26 | 同济大学 | 一种激光雷达与视觉相机的外参标定装置 |
CN110349221A (zh) * | 2019-07-16 | 2019-10-18 | 北京航空航天大学 | 一种三维激光雷达与双目可见光传感器的融合标定方法 |
CN110361717B (zh) * | 2019-07-31 | 2021-03-12 | 苏州玖物互通智能科技有限公司 | 激光雷达-摄像机联合标定靶和联合标定方法 |
CN110766758B (zh) * | 2019-09-12 | 2022-08-09 | 浙江大华技术股份有限公司 | 标定方法、装置、系统及存储装置 |
CN112630750A (zh) * | 2019-10-08 | 2021-04-09 | 华为技术有限公司 | 传感器标定方法和传感器标定装置 |
CN110827358B (zh) * | 2019-10-15 | 2023-10-31 | 深圳数翔科技有限公司 | 一种应用于自动驾驶汽车的相机标定方法 |
CN112816949B (zh) * | 2019-11-18 | 2024-04-16 | 商汤集团有限公司 | 传感器的标定方法及装置、存储介质、标定系统 |
CN112907676B (zh) * | 2019-11-19 | 2022-05-10 | 浙江商汤科技开发有限公司 | 传感器的标定方法、装置、系统、车辆、设备及存储介质 |
CN111638500A (zh) * | 2020-06-01 | 2020-09-08 | 贝壳技术有限公司 | 用于测量装置的标定方法和测量装置 |
CN113763478B (zh) * | 2020-09-09 | 2024-04-12 | 北京京东尚科信息技术有限公司 | 无人车相机标定方法、装置、设备、存储介质及系统 |
CN112270713A (zh) * | 2020-10-14 | 2021-01-26 | 北京航空航天大学杭州创新研究院 | 标定方法以及装置、存储介质、电子装置 |
CN112162263A (zh) * | 2020-10-26 | 2021-01-01 | 苏州挚途科技有限公司 | 传感器的联合标定方法、装置及电子设备 |
CN112444798B (zh) * | 2020-11-27 | 2024-04-09 | 杭州易现先进科技有限公司 | 多传感器设备时空外参标定方法、装置以及计算机设备 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103837869B (zh) * | 2014-02-26 | 2016-06-01 | 北京工业大学 | 基于向量关系的单线激光雷达和ccd相机标定方法 |
CN112859899A (zh) * | 2014-10-31 | 2021-05-28 | 深圳市大疆创新科技有限公司 | 用于利用视觉标记进行监视的系统和方法 |
CN105678785B (zh) * | 2016-02-01 | 2018-03-02 | 西安交通大学 | 一种激光与相机相对位姿关系的标定方法 |
CN105931229B (zh) * | 2016-04-18 | 2019-02-05 | 东北大学 | 面向无线相机传感器网络的无线相机传感器位姿标定方法 |
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