CN108020826B - Multi-line laser radar and multichannel camera mixed calibration method - Google Patents

Multi-line laser radar and multichannel camera mixed calibration method Download PDF

Info

Publication number
CN108020826B
CN108020826B CN201711012232.9A CN201711012232A CN108020826B CN 108020826 B CN108020826 B CN 108020826B CN 201711012232 A CN201711012232 A CN 201711012232A CN 108020826 B CN108020826 B CN 108020826B
Authority
CN
China
Prior art keywords
camera
laser radar
point cloud
line laser
cloud data
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.)
Active
Application number
CN201711012232.9A
Other languages
Chinese (zh)
Other versions
CN108020826A (en
Inventor
温程璐
王程
夏彦
张正
宫正
李军
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.)
Xiamen University
Original Assignee
Xiamen University
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 Xiamen University filed Critical Xiamen University
Priority to CN201711012232.9A priority Critical patent/CN108020826B/en
Publication of CN108020826A publication Critical patent/CN108020826A/en
Application granted granted Critical
Publication of CN108020826B publication Critical patent/CN108020826B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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
    • G06T5/80—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/10—Protocols in which an application is distributed across nodes in the network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • 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
    • G06T2207/30244—Camera pose

Abstract

The invention discloses a kind of multi-line laser radars and multichannel camera mixed calibration method, comprising the following steps: the acquisition of S1, the raw image data of multichannel camera, multi-line laser radar point cloud data and static laser radar point cloud data；The solution of S2, each camera internal reference model；S3, the image of each camera acquisition distort, the image after being corrected；S4, static laser radar point cloud data is registrated in multi-line laser radar point cloud coordinate system；S5, position (X of each camera in multi-line laser radar point cloud coordinate system is obtained in the point cloud data that S4 has been registrateds,Ys,Zs)；S6, each camera correction after image in choose at least four target pixel coordinate (u, v) and it is corresponding using multi-line laser radar as coordinate origin put cloud in target three-dimensional coordinate (Xp,Yp,Zp)；S7, the internal reference model according to each camera, camera position (Xs,Ys,Zs) and camera corresponding to target pixel coordinate (u, v) and three-dimensional coordinate (Xp,Yp,Zp), collinearity equation is established, the attitude angle element and 9 direction cosines of each camera are found out, completes calibration.

Description

Multi-line laser radar and multichannel camera mixed calibration method
Technical field
The present invention relates to calibration technique fields, and in particular to a kind of multi-line laser radar and multichannel camera mixed calibration side Method.
Background technique
Laser radar be pass through transmitting laser and receive reflection laser come the position of detecting object, in order to improve laser thunder The investigative range and precision reached, further research obtains multi-line laser radar to people on the basis of single line laser radar.It is more Line laser radar refers to that it can emit simultaneously and receive multiple laser, when being scanned, available multiple concentric scannings Line.
In the three-dimensional reconstruction application scanned based on multi-line laser radar, the number based on multi-line laser radar Yu multichannel camera According to fusion, more surrounding three-dimensional detailed information can be grabbed, improve more perfect spatial data to be further processed, but in phase In relationship system, there is the local coordinate system of itself with multichannel camera in multi-line laser radar, need to be marked by related algorithm It is fixed, to find the three-dimensional coordinate transformation relationship between multi-line laser radar and multichannel camera, currently, for multi-line laser radar with The algorithm of multichannel camera mixed calibration needs individually to demarcate per camera all the way with multi-line laser radar mostly.Since laser radar is adopted The point cloud data of collection is sparse, and multichannel camera intrinsic parameter is unknown, causes calibration difficulty big, there is no relevant calibration technique at present The multi-line laser radar of this type and the technology of multichannel camera mixed calibration can disposably be solved.
Summary of the invention
The purpose of the present invention is to provide a kind of multi-line laser radars and multichannel camera mixed calibration algorithm, for realizing more Calibration between line laser radar and multichannel camera.
To achieve the above object, the invention adopts the following technical scheme:
Multi-line laser radar and multichannel camera mixed calibration method, comprising the following steps:
S1, the raw image data of multichannel camera, multi-line laser radar point cloud data and static laser radar point cloud number According to acquisition；
The solution of S2, each camera internal reference model；
S3, the image of each camera acquisition distort, the image after being corrected；
S4, static laser radar point cloud data is registrated in multi-line laser radar point cloud coordinate system；
S5, position of each camera in multi-line laser radar point cloud coordinate system is obtained in the point cloud data that S4 has been registrated (Xs,Ys,Zs)；
S6, the pixel coordinate (u, v) of at least four target and corresponding with more is chosen in the image after the correction of each camera Line laser radar is the three-dimensional coordinate (X of target in the scene point cloud of coordinate originp,Yp,Zp)；
S7, the internal reference model according to each camera, camera position (Xs,Ys,Zs) and camera corresponding to target pixel coordinate (u, v) and three-dimensional coordinate (Xp,Yp,Zp), collinearity equation is established, the attitude angle element and 9 direction cosines of each camera are found out, it is complete At calibration.
Further, step S1 is specifically included:
The acquisition of S11, multichannel camera image data:
Stationary vehicle is parked, several targets are successively uniformly put in the visual field of each camera, obtains multichannel camera Raw image data；
The acquisition of S12, multi-line laser radar point cloud data:
Multi-line laser radar on roof is switched on and is scanned, is obtained using the position where multi-line laser radar as three-dimensional space The multi-line laser radar point cloud data of coordinate origin；
The acquisition of S13, static laser radar point cloud data:
Entire scene is scanned using ground static state laser radar, obtains static laser radar point cloud data and each phase Position of the machine in static laser radar point cloud data.
Further, in step S2, camera internal reference model is expressed as
Wherein fx, fyFor the focal length of camera, cx, cyFor the primary optical axis point of camera, solved using the chessboard calibration method of Zhang Zhengyou Camera internal reference and distortion factor obtain camera internal reference model.
Further, in step S7, the collinearity equation are as follows:
In formula, f be optical center to image plane it is vertical away from,a1、a2、a3、b1′、b2′、b3′、c1、c2′And c3For 9 direction cosines of each camera, all directions cosine and image attitude angleRelationship between ω and γ is as follows:
b1=cos ω sin γ；
b2=cos ω sin γ；
b3=-sin ω；
WhereinIt is main shaft that ω and γ, which is using multi-line laser radar as the Y-axis of coordinate origin respectively, X-axis is main shaft, Z axis For the rotation angle of main shaft；The attitude angle element and 9 direction cosines of each camera are estimated, calibration is completed.
After adopting the above technical scheme, compared with the background technology, the present invention, having the advantages that
The invention proposes a kind of new scaling methods, mix while for realizing multi-line laser radar with multichannel camera Calibration, can carry out a multi-line laser radar and demarcate simultaneously with multichannel camera, fill up the relevant technologies blank.The present invention installs letter Single, calibration algorithm is easy to implement, in the case where multichannel camera intrinsic parameter is unknown, point cloud data of laser radar acquisition is sparse, It solves the difficulty that multi-line laser radar and multichannel camera are demarcated simultaneously, has filled up the relevant technologies blank, advanced unmanned Technology is towards low cost, generality, common people's sexual development.
Detailed description of the invention
Fig. 1 is multi-line laser radar and a certain Installation Example schematic diagram of the multichannel camera on vehicle in the present invention.
Fig. 2 is flow chart of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.
In the present invention it should be noted that term " on " "lower" " left side " " right side " "vertical" "horizontal" "inner" "outside" etc. is Be based on the orientation or positional relationship shown in the drawings, it is only for convenient for description the present invention and simplify description, rather than indicate or It implies that the device of the invention or element must have a particular orientation, therefore is not considered as limiting the invention.
Embodiment
The invention discloses a kind of multi-line laser radars and multichannel camera mixed calibration method, for realizing multi-thread laser thunder Up to the mixed calibration with multichannel camera.Multi-line laser radar as shown in Fig. 1 and a certain installation of the multichannel camera on vehicle Example schematic, wherein the number of multi-line laser radar 5 is 1, is set to roof location, No. 4 cameras 1,2,3 and 4 are installed respectively After Chinese herbaceous peony, vehicle and the left and right sides of vehicle, in practical applications, the number of multi-line laser radar, distributing position and camera Number, distributing position can be arranged according to actual needs, not influence the present invention to the position between multi-line laser radar and camera Set calibration.
As shown in Fig. 2 flow chart of the invention, the present invention the following steps are included:
S1, the raw image data of multichannel camera, multi-line laser radar point cloud data and static laser radar point cloud number According to acquisition, specifically:
Specifically, step S1 includes:
The acquisition of S11, multichannel camera image data:
Firstly, finding, one spacious, surrounding can hang target place, the successively uniform pendulum in the visual field of each camera 5 pieces or more of target is put, the raw image data of multichannel camera is obtained.
The acquisition of S12, multi-line laser radar point cloud data:
Multi-line laser radar on roof is switched on and is scanned, is obtained using the position where multi-line laser radar as three-dimensional space The multi-line laser radar point cloud data of coordinate origin, the i.e. three-dimensional coordinate (x, y, z) of laser radar position=(0,0, 0)。
The acquisition of S13, static laser radar point cloud data:
The entire scene of calibration is scanned using Ground Nuclear Magnetic Resonance static state laser radar (precision is within 5 millimeters), Obtain the position of static laser radar point cloud data and each camera in static laser radar point cloud data.The static state obtained at this time Laser radar point cloud data be using the position where static laser radar as the point cloud data of three-dimensional coordinate origin, i.e., each point Three dimensional space coordinate value (X, Y, Z) is relative to the position where static laser radar.
The solution of S2, each camera internal reference model:
Camera internal reference model is expressed asWherein fx, fyFor the focal length of camera, cx, cyFor the primary optical axis of camera Point, distortion factor is by (k1,k2,k3,k4) indicate, camera internal reference and distortion factor are solved using the chessboard calibration method of Zhang Zhengyou, is obtained Obtain camera internal reference model.
S3, according to the obtained camera internal reference of S2 and distortion factor etc., the image of each camera acquisition distort, is obtained Image after correction.
S4, static laser radar point cloud data is registrated in multi-line laser radar point cloud coordinate system: will be obtained in S1 Static laser radar point cloud data and multi-line laser radar point cloud data carry out manual registration, will be with static laser radar position The point cloud coordinate system transformation of coordinate origin is entirely marked to using multi-line laser radar position as the point cloud coordinate system of coordinate origin Determine point cloud data targets such as (wherein, including) vehicle, camera and targets of scene, this step by means of professional software (such as RiPROCESS it) completes.
S5, position of each camera in multi-line laser radar point cloud coordinate system is obtained in the point cloud data that S4 has been registrated (Xs,Ys,Zs)。
S6, the pixel coordinate (u, v) of at least four target and corresponding with more is chosen in the image after the correction of each camera Line laser radar is the three-dimensional coordinate (X of target in the scene point cloud of coordinate originp, Yp, Zp)。
S7, the internal reference model according to each camera, camera position (Xs, Ys, Zs) and camera corresponding to target pixel coordinate (u, v) and three-dimensional coordinate (Xp, Yp, Zp), collinearity equation is established, the attitude angle element and 9 direction cosines of each camera are found out, it is complete At calibration.
Wherein, the collinearity equation are as follows:
In formula, f is optical center hanging down away from (i.e. focal length) to image plane, and in order to simplify problem, is enabled a1、a2、a3、b1′、b2′、b3′、c1、c2′And c3For 9 direction cosines of each camera；
All directions cosine and image attitude angleRelationship between ω and γ is as follows:
b1=cos ω sin γ；
b2=cos ω sin γ；
b3=-sin ω；
Wherein,It is main shaft that ω and γ, which is using multi-line laser radar as the Y-axis of coordinate origin respectively, X-axis be main shaft and Z axis is that the rotation angle of main shaft (is main shaft rotation by the Y-axis of coordinate origin of multi-line laser radarThen angle is rotated around X-axis The angle ω finally rotates the angle γ about the z axis), main shaft refers to the fixing axle that direction in space is constant in rotary course；Using minimum two Multiplication solves collinearity condition equation, estimates the attitude angle element and 9 direction cosines of each camera, completes calibration.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto, In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art, It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims Subject to.

Claims (1)

1. multi-line laser radar and multichannel camera mixed calibration method, which comprises the following steps:
S1, the raw image data of multichannel camera, multi-line laser radar point cloud data and static laser radar point cloud data Acquisition；
The acquisition of S11, multichannel camera image data: successively uniformly putting several targets in the visual field of each camera, obtains The raw image data of multichannel camera；
The acquisition of S12, multi-line laser radar point cloud data: multi-line laser radar being switched on and is scanned, and is obtained with multi-line laser radar The position at place is the multi-line laser radar point cloud data of three-dimensional coordinate system origin；
The acquisition of S13, static laser radar point cloud data: entire scene is scanned using ground static state laser radar, is obtained Obtain the position of static laser radar point cloud data and each camera in static laser radar point cloud data；
The solution of S2, each camera internal reference model；
S3, the image of each camera acquisition distort, the image after being corrected；
S4, static laser radar point cloud data is registrated in multi-line laser radar point cloud coordinate system；
S5, position (X of each camera in multi-line laser radar point cloud coordinate system is obtained in the point cloud data that S4 has been registrateds,Ys, Zs)；
S6, the pixel coordinate (u, v) that at least four target is chosen in the image after the correction of each camera and corresponding with multi-thread sharp Optical radar is the three-dimensional coordinate (X of target in the scene point cloud of coordinate originp,Yp,Zp)；
S7, the internal reference model according to each camera, camera position (Xs,Ys,Zs) and camera corresponding to target pixel coordinate (u, And three-dimensional coordinate (X v)p,Yp,Zp), collinearity equation is established, the attitude angle element and 9 direction cosines of each camera are found out；
The collinearity equation are as follows:
In formula, f be optical center to image plane it is vertical away from,fx, fyFor the focal length of camera；cx, cyFor camera Primary optical axis point；a1、a2、a3、b1、b2、b3、c1、c2And c3For 9 direction cosines of each camera, all directions cosine and image attitude angleRelationship between ω and γ is as follows:
b1=cos ω sin γ；
b2=cos ω sin γ；
b3=-sin ω；
WhereinIt is main shaft that ω and γ, which is using multi-line laser radar as the Y-axis of coordinate origin respectively, X-axis is main shaft, Z axis is main shaft Rotation angle；The attitude angle element and 9 direction cosines of each camera are estimated, calibration is completed.
CN201711012232.9A 2017-10-26 2017-10-26 Multi-line laser radar and multichannel camera mixed calibration method Active CN108020826B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711012232.9A CN108020826B (en) 2017-10-26 2017-10-26 Multi-line laser radar and multichannel camera mixed calibration method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711012232.9A CN108020826B (en) 2017-10-26 2017-10-26 Multi-line laser radar and multichannel camera mixed calibration method

Publications (2)

Publication Number Publication Date
CN108020826A CN108020826A (en) 2018-05-11
CN108020826B true CN108020826B (en) 2019-11-19

Family

ID=62080304

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711012232.9A Active CN108020826B (en) 2017-10-26 2017-10-26 Multi-line laser radar and multichannel camera mixed calibration method

Country Status (1)

Country Link
CN (1) CN108020826B (en)

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109300162B (en) * 2018-08-17 2021-08-03 浙江工业大学 Multi-line laser radar and camera combined calibration method based on refined radar scanning edge points
CN109343061B (en) * 2018-09-19 2021-04-02 百度在线网络技术（北京）有限公司 Sensor calibration method and device, computer equipment, medium and vehicle
CN109345596A (en) 2018-09-19 2019-02-15 百度在线网络技术（北京）有限公司 Multisensor scaling method, device, computer equipment, medium and vehicle
CN109633612B (en) * 2018-10-18 2020-06-16 浙江大学 Single-line laser radar and camera external reference calibration method without common observation
CN110609268B (en) * 2018-11-01 2022-04-29 驭势科技（北京）有限公司 Laser radar calibration method, device and system and storage medium
CN109584183B (en) * 2018-12-05 2020-05-29 吉林大学 Laser radar point cloud distortion removal method and system
CN111538008B (en) * 2019-01-18 2022-12-23 杭州海康威视数字技术股份有限公司 Transformation matrix determining method, system and device
CN109900205B (en) * 2019-02-21 2020-04-24 武汉大学 High-precision single-line laser and optical camera rapid calibration method
CN109949371A (en) * 2019-03-18 2019-06-28 北京智行者科技有限公司 A kind of scaling method for laser radar and camera data
CN110149463A (en) * 2019-04-22 2019-08-20 上海大学 It is a kind of to carry the hand-held line-structured light camera for turning station measurement target
CN110244282B (en) * 2019-06-10 2021-06-15 宁波智能装备研究院有限公司 Multi-camera system and laser radar combined system and combined calibration method thereof
CN110200552B (en) * 2019-06-20 2020-11-13 小狗电器互联网科技（北京）股份有限公司 Method for removing distortion of measuring end point of laser radar and sweeper
CN110353577B (en) * 2019-08-09 2020-12-08 小狗电器互联网科技（北京）股份有限公司 Laser radar point cloud data distortion removal method and sweeping device
CN112241989A (en) * 2019-08-22 2021-01-19 北京新能源汽车技术创新中心有限公司 External parameter calibration method and device, computer equipment and storage medium
CN112823294B (en) * 2019-09-18 2024-02-02 北京航迹科技有限公司 System and method for calibrating cameras and multi-line lidar
CN110765894B (en) * 2019-09-30 2022-07-08 杭州飞步科技有限公司 Target detection method, device, equipment and computer readable storage medium
CN111325801B (en) * 2020-01-23 2022-03-15 天津大学 Combined calibration method for laser radar and camera
CN111311742B (en) * 2020-03-27 2023-05-05 阿波罗智能技术(北京)有限公司 Three-dimensional reconstruction method, three-dimensional reconstruction device and electronic equipment
CN111413689B (en) * 2020-05-07 2023-04-07 沃行科技(南京)有限公司 Efficient static calibration method for realizing multi-laser radar point cloud alignment based on rviz
CN112230241B (en) * 2020-10-23 2021-07-20 湖北亿咖通科技有限公司 Calibration method based on random scanning type radar
CN112396663B (en) * 2020-11-17 2021-09-14 南方电网电力科技股份有限公司 Visual calibration method, device, equipment and medium for multi-depth camera
CN113129590A (en) * 2021-04-12 2021-07-16 武汉理工大学 Traffic facility information intelligent analysis method based on vehicle-mounted radar and graphic measurement
WO2022256976A1 (en) * 2021-06-07 2022-12-15 深圳市大疆创新科技有限公司 Method and system for constructing dense point cloud truth value data and electronic device
CN113625288A (en) * 2021-06-15 2021-11-09 中国科学院自动化研究所 Camera and laser radar pose calibration method and device based on point cloud registration
CN113534110B (en) * 2021-06-24 2023-11-24 香港理工大学深圳研究院 Static calibration method for multi-laser radar system
CN114047487B (en) * 2021-11-05 2022-07-26 深圳市镭神智能系统有限公司 Radar and vehicle body external parameter calibration method and device, electronic equipment and storage medium
CN116499364B (en) * 2023-06-30 2023-09-12 济南作为科技有限公司 Method and system for cloud adjustment distortion of three-dimensional laser point of coal-coiling instrument

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103500338A (en) * 2013-10-16 2014-01-08 厦门大学 Road zebra crossing automatic extraction method based on vehicle-mounted laser scanning point cloud
CN104142157A (en) * 2013-05-06 2014-11-12 北京四维图新科技股份有限公司 Calibration method, device and equipment
CN105678783A (en) * 2016-01-25 2016-06-15 西安科技大学 Data fusion calibration method of catadioptric panorama camera and laser radar

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104142157A (en) * 2013-05-06 2014-11-12 北京四维图新科技股份有限公司 Calibration method, device and equipment
CN103500338A (en) * 2013-10-16 2014-01-08 厦门大学 Road zebra crossing automatic extraction method based on vehicle-mounted laser scanning point cloud
CN105678783A (en) * 2016-01-25 2016-06-15 西安科技大学 Data fusion calibration method of catadioptric panorama camera and laser radar

Also Published As

Publication number Publication date
CN108020826A (en) 2018-05-11

Similar Documents

Publication Publication Date Title
CN108020826B (en) Multi-line laser radar and multichannel camera mixed calibration method
CN110264520B (en) Vehicle-mounted sensor and vehicle pose relation calibration method, device, equipment and medium
CN106529495B (en) Obstacle detection method and device for aircraft
CN105716542B (en) A kind of three-dimensional data joining method based on flexible characteristic point
US20180192035A1 (en) Systems and methods for object location
JP6443700B2 (en) Method, apparatus, and system for obtaining antenna configuration parameters
WO2018210078A1 (en) Distance measurement method for unmanned aerial vehicle, and unmanned aerial vehicle
CN106127787B (en) A kind of camera calibration method based on Inverse projection
CN105716590A (en) Method for determining a position and orientation offset of a geodetic surveying device and such a surveying device
CN104914863A (en) Integrated unmanned motion platform environment understanding system and work method thereof
CN103871071A (en) Method for camera external reference calibration for panoramic parking system
CN107504918B (en) Radio telescope surface shape measurement method and device
US20210073539A1 (en) Port area monitoring method and system and central control system
CN102607531B (en) Spacial low-speed high-accuracy two-dimensional image motion compensation pointing control system
CN108596982A (en) A kind of easy vehicle-mounted multi-view camera viewing system scaling method and device
KR20130121290A (en) Georeferencing method of indoor omni-directional images acquired by rotating line camera
CN112308927A (en) Fusion device of panoramic camera and laser radar and calibration method thereof
CN113296133B (en) Device and method for realizing position calibration based on binocular vision measurement and high-precision positioning fusion technology
CN103679647A (en) Point cloud model true color processing method of three-dimensional laser imaging system
CN110332930A (en) Position determination method, device and equipment
CN112461204B (en) Method for satellite to dynamic flying target multi-view imaging combined calculation of navigation height
CN102694963A (en) Method for acquiring shadeless target image
CN111538008A (en) Transformation matrix determining method, system and device
Lin et al. Real-time low-cost omni-directional stereo vision via bi-polar spherical cameras
CN107655458B (en) Panorama scene automatic association method based on GIS

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant