CN108399643A - A kind of outer ginseng calibration system between laser radar and camera and method - Google Patents

A kind of outer ginseng calibration system between laser radar and camera and method Download PDF

Info

Publication number
CN108399643A
CN108399643A CN201810232731.7A CN201810232731A CN108399643A CN 108399643 A CN108399643 A CN 108399643A CN 201810232731 A CN201810232731 A CN 201810232731A CN 108399643 A CN108399643 A CN 108399643A
Authority
CN
China
Prior art keywords
camera
point
laser radar
radar
outer ginseng
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.)
Pending
Application number
CN201810232731.7A
Other languages
Chinese (zh)
Inventor
周余
李培
于耀
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.)
Nanjing University
Original Assignee
Nanjing 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 Nanjing University filed Critical Nanjing University
Priority to CN201810232731.7A priority Critical patent/CN108399643A/en
Publication of CN108399643A publication Critical patent/CN108399643A/en
Pending legal-status Critical Current

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
    • 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
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • 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
    • G06T2207/20—Special algorithmic details
    • G06T2207/20112—Image segmentation details
    • G06T2207/20164—Salient point detection; Corner detection

Abstract

The method that the present invention provides outer ginseng calibration between a kind of laser radar and industrial camera, belongs to computer vision and robot field.Problems solved by the invention is：When laser radar and industrial camera cooperate, unified coordinate system is needed, needs to estimate the outer ginseng between laser radar and industrial camera.Main includes obtaining camera posture by camera gridiron pattern, the posture of laser radar is obtained by radar data, according to the outer ginseng relationship between laser radar and camera, estimate the outer ginseng between laser radar and industrial camera, further, in conjunction with multiframe data, optimize the outer ginseng between laser radar and industrial camera.This patent can be good at estimating outer ginseng between laser radar and camera.

Description

A kind of outer ginseng calibration system between laser radar and camera and method
Technical field
The invention belongs to computer visions and robot field, are related to a kind of outer ginseng calibration system of laser radar and camera And method.
Background technology
Three-dimensional reconstruction has very important effect in computer vision and robot field, is virtual reality, intelligence Monitoring, the basis of the applications such as robot path planning.Laser radar can directly acquire three-dimensional depth information, and image can obtain Texture and color information, the system that the two is combined can obtain more true three-dimensional scenic.Between laser radar and camera The calibration of outer ginseng can ensure data fusion between two kinds of sensors.
Three-dimensional reconstruction is broadly divided into two classes：Based on camera image carry out three-dimensional reconstruction and based on the three-dimensional of laser radar It rebuilds.Three-dimensional reconstruction based on image includes mainly the acquisition of image, the calibration of camera, feature point extraction, Feature Points Matching, table Several steps such as face reconstruction.
Algorithm for reconstructing based on laser radar, laser radar can directly acquire depth information, and common ICP algorithm does three-dimensional The fusion of point cloud.
Laser radar and the system of camera fusion can reach real-time resurfacing, and can obtain abundant texture letter Breath.Outer ginseng between laser radar and camera can ensure the unification of system coordinates, be non-in multi-sensor Information Fusion System Normal part and parcel.
Invention content
Outer ginseng calibration system and method between a kind of laser radar of present invention offer and camera.Include the following steps：
Step 1：Camera posture is obtained by camera gridiron pattern；
Step 2：Laser radar posture is obtained by laser radar data
Step 3：Outer ginseng estimation between laser radar and camera
Step 4：The outer ginseng estimation of optimization
Further, the step 1 is specially further：Camera is moved around gridiron pattern, ensures that gridiron pattern is located at camera Within sweep of the eye.By taking two width views as an example, the i-th frame and jth frame are taken out, it is assumed that i ＜ j.By Corner Detection Algorithm, can obtain Then the X-comers of each image utilize correlation matching algorithm that can robustly obtain the matching relationship of X-comers. Since X-comers are in the same plane, correspondence is constrained in homography matrix H, can by decomposing homography matrix H To obtain four groups of possible camera postures, but effectively 3D points must be positioned in front of camera, according to the constraints, can filter out Real camera postureHomogeneous coordinates：
Wherein, i, j indicate the i-th frame and jth frame, i ＜ j respectively.R indicates that spin matrix, t indicate translation matrix.
Further, the step 2 is specially further：Assuming that radar be ready for camera it is synchronous, extraction the i-th frame and Jth frame (identical as the i-th frame of camera and jth frame moment) radar data obtains this two frames thunder according to the algorithm that LOAM systems provide Up to the posture between data.
First, the characteristic point of radar data is extracted, the smoothness of current point can be assessed with following formula：
Wherein,It indicates under radar fix system, the three-dimensional coordinate of m-th point of kth frame point cloud, S is indicated around current point The set of neighborhood point.The larger and smaller point of current smooth degree is chosen respectively as angle point and planar point, this two classes point, which is used as, works as The characteristic point of previous frame point cloud.
Then, it is assumed that present frame is the i-th frame, obtains set of characteristic points Pi, jth frame point cloud is saved in KDTree, energy Enough quick obtaining set PiThe closest point of middle characteristic point, using these closest points as PiMatch point.In this way, two frame radars Relationship between point cloud data can be described as follows：
Wherein,Indicate the spin matrix between i-th, j frames, two frame radar data,Indicate translation vector.
Here to straight line and point to the distance in face as the distance inside ICP algorithm, iterative solution obtains current selected point Posture between two frame radar datas
Further, the step 3 is specially further：By step 1,2, obtain mutually the i-th frame and jth frame phase in the same time Machine and the respective relative attitude of radarWith
It can obtain：
Wherein,Indicate the outer ginseng between camera and laser radar.
R and t are substituted into respectively, obtained：
WhereinWithIt is the spin matrix and translation vector between camera and radar.
Wherein R ∈ SO (3) can be obtained by Lie algebra to Lie group index mapping：
Wherein Exp indicates Lie algebra to the index mapping of Lie group.Following relationship can be obtained by formula above：
So：
Assuming that matrixSingular value decomposition M=USV is done to MT
So：
It willIt is updated in the relational expression of t.
So：
Here an initial outer ginseng estimation has been obtained.
It is that two width views obtain the outer ginseng between laser radar and camera above.
Further, the step 4 is specially further：Obtained outer ginseng is further optimized, is regarded by two width Figure obtains the outer ginseng between radar and camera, outer between the radar and camera between further, making adjacent view two-by-two Ginseng, after obtaining several groups result, is averaged.
According to another aspect of the present invention, the system and method that outer ginseng calibration between a kind of laser radar and camera is provided, System includes following module：
Data acquisition module, data include gridiron pattern image sequence and radar point cloud data, pass through camera and laser respectively Radar obtains.
Computer processing module, including：A. image X-comers detection module, b. two field pictures join estimation module outside, C. laser radar characteristic point detection module, two frame radars of d. join estimation module outside, outer ginseng estimation between e. laser radars and camera Module, f. multiframe data are averaged module.
A. image X-comers detection module：To current two field pictures, present image is extracted using Corner Detection Algorithm In X-comers.
B. join estimation module outside two field pictures：To current two field pictures, obtains current two card using corners Matching relationship and scheme Homography matrix H as between can obtain four groups of different outer ginseng estimations, according to three by the decomposition to homography matrix H Dimension point must fall the constraint in front of Current camera, find out correct Attitude estimation.
C. laser radar characteristic point detection module：According to radar data smoothness estimation formulas among the above, symbol is filtered out The characteristic point of conjunction condition is used as match point by the closest spatial point of KDTree removal search next frames.
D. join estimation module outside two frame radars：According to above-mentioned radar points movement relation, equation group is built, two continuous frames are obtained Outer ginseng posture between radar data.
E. outer between laser radar and camera to join estimation module：By above-mentioned formula, ginseng and Camera extrinsic outside radar are utilized Between mathematical relationship, obtain between laser radar and camera outer ginseng estimation.
F. multiframe data are averaged module：Above-mentioned module is applied between two continuous frames data and obtains multigroup laser thunder The outer ginseng estimation between camera is reached, spin matrix is converted into rotating vector, is averaged.
This method can robustly estimate the outer ginseng between laser radar and industrial camera.
Description of the drawings
Description of the drawings further understands technical solution of the present invention for providing, and a part for constitution instruction, with The implementation technical solution for explaining the present invention together of the present invention, does not constitute the limitation to technical solution of the present invention.Attached drawing It is described as follows：
Fig. 1 is the flow chart of the method for the present invention.Fig. 2 is the hardware composition figure of present system.
Specific implementation mode
As shown in Figure 1, the system and method that the present invention provides outer ginseng calibration between a kind of laser radar and industrial camera, packet Include following steps：
Step 1：Image X-comers detect
It, can be with rapid extraction X-comers using Corner Detection Algorithm.
Step 2：Join estimation outside two field pictures
Using X-comers matching relationship, the homography matrix between two width views is obtained, by homography matrix Constraint in front of camera of decomposition and real space point, obtain the Attitude estimation between two field pictures.
Step 3：Laser radar characteristic point detects
The smoothness of present frame radar data, current point can be assessed with following formula：
Wherein,It indicates under radar fix system, the three-dimensional coordinate of m-th point of kth frame point cloud, S is indicated around current point The set of neighborhood point.The larger and smaller point of current smooth degree is chosen respectively as angle point and planar point, this two classes point, which is used as, works as The characteristic point of previous frame point cloud.
Step 4：Join estimation outside two frame radars
Present frame is the i-th frame, obtains set of characteristic points Pi, jth frame point cloud is saved in KDTree, it being capable of quick obtaining Set PiThe closest point of middle characteristic point, using these closest points as PiMatch point.In this way, two frame radar point cloud datas it Between relationship can be described as follows：
Here to straight line and point to the distance in face as the distance inside ICP algorithm, iterative solution obtains current selected point Posture between two frame radar datas
Step 5：Outer ginseng estimation between laser radar and camera
Mutually the i-th frame and jth frame camera and the respective relative attitude of radar in the same timeWith
It can obtain：
R and t are substituted into respectively, obtained：
WhereinWithIt is the outer ginseng between camera and radar.Wherein R ∈ SO (3), by Lie algebra to Lie group index mapping, It can obtain：
Following relationship can be obtained by formula above：
So：
Assuming that matrixSingular value decomposition M=USV is done to MT
So：
It willIt is updated in the relational expression of t.
So：
Here an initial outer ginseng estimation has been obtained.
Step 6：Multiframe data are averaged
Above-mentioned steps are applied between two continuous frames data and obtain outer ginseng estimation between multigroup laser radar and camera, it will Spin matrix is converted into rotating vector, averages.
As shown in Figure 2.The method that the present invention provides outer ginseng calibration between a kind of laser radar and industrial camera, including it is as follows Module：
201 data acquisition modules mainly obtain three-dimensional point cloud by laser radar, and chessboard table images are obtained by camera Sequence.
202 computer processing modules, including：A. image X-comers detection module, b. two field pictures join estimation mould outside Block, c. laser radar characteristic point detection modules, two frame radars of d. join estimation module outside, and outer ginseng is estimated between e. laser radars and camera Module is counted, f. multiframe data are averaged module.
A. image X-comers detection module：To current two field pictures, present image is extracted using Corner Detection Algorithm In X-comers.
B. join estimation module outside two field pictures：Two width are obtained using X-comers matching relationship to current two field pictures Homography matrix between view is obtained by the constraint of decomposition and real space point in front of camera to homography matrix Attitude estimation between two field pictures.
C. laser radar characteristic point detection module：According to radar data smoothness estimation formulas among the above, symbol is filtered out The characteristic point of conjunction condition is used as match point by the closest spatial point of KDTree removal search next frames.
D. join estimation module outside two frame radars：According to above-mentioned radar points movement relation, equation group is built, two continuous frames are obtained Outer ginseng posture between radar data.
E. outer between laser radar and camera to join estimation module：By above-mentioned formula, ginseng and Camera extrinsic outside radar are utilized Between mathematical relationship, obtain between laser radar and camera outer ginseng estimation.
F. multiframe data are averaged module：Above-mentioned module is applied between two continuous frames data and obtains multigroup laser thunder The outer ginseng estimation between camera is reached, spin matrix is converted into rotating vector, is averaged.
Those skilled in the art should be understood that the system structure of the above-mentioned present invention and each step can be with general Computing device realizes that they can be concentrated on a single computing device, or is distributed in the net of multiple computing devices compositions On network, the present invention is not limited to any specific hardware and softwares to combine.
Although the embodiment shown or described by the present invention is as above, the content is only to facilitate understand this The embodiment of invention and use, is not limited to the present invention.Any those skilled in the art to which this invention pertains, Do not depart from disclosed herein spirit and scope under the premise of, any repair can be done in the formal and details of implementation Change and change, but the scope of patent protection of the present invention, still should be subject to the scope of the claims as defined in the appended claims.

Claims (3)

1. the outer ginseng calibration system and method for a kind of laser radar and camera, which is characterized in that include the following steps：
Step 1：Camera posture is obtained by camera gridiron pattern；
Step 2：Laser radar posture is obtained by laser radar data
Step 3：Outer ginseng estimation between laser radar and camera
Step 4：The outer ginseng estimation of optimization
Including following module：
Data acquisition module, data include gridiron pattern image sequence and radar point cloud data, pass through camera and laser radar respectively It obtains.
Computer processing module, including image X-comers detection module, two field pictures join estimation module outside, and laser radar is special Sign point detection module, two frame radars join estimation module outside, and outer between laser radar and camera to join estimation module, multiframe data ask flat Mean module.
2. the outer ginseng scaling method of a kind of laser radar according to claim 1 and camera, which is characterized in that the step 2 are specially further：Camera is moved around gridiron pattern, ensures that gridiron pattern is located within the scope of camera fields of view.By taking two width views as an example, The X-comers of each image are obtained, then utilize correlation matching algorithm that can robustly obtain very much of X-comers With relationship.Since X-comers are in the same plane, correspondence is constrained in homography matrix H, by decomposing homography Matrix H can obtain four groups of possible camera postures, but effectively 3D points must be positioned in front of camera, according to the constraints, just Real camera posture can be filtered outHomogeneous coordinates：
Further, the step 2 is specially further：The characteristic point of radar data is extracted, the smoothness of current point can be used Following formula is assessed：
Wherein,It indicates under radar fix system, the three-dimensional coordinate of m-th point of kth frame point cloud, S indicates current point surrounding neighbors The set of point.The larger and smaller point of current smooth degree is chosen respectively as angle point and planar point, this two classes point is as present frame The characteristic point of point cloud.
In this way, the relationship between two frame radar point cloud datas can be described as follows：
Here to straight line and point to the distance in face as the distance inside ICP algorithm, iterative solution obtains working as front cross frame selected point Posture between radar data
3. the outer ginseng scaling method of a kind of laser radar according to claim 1 and camera, which is characterized in that the step 3 are specially further：By step 2, the i-th frame and jth frame camera and the respective relative attitude of radar in the same time are obtained mutuallyWith
It can obtain：
By Lie algebra to Lie group index mapping, can obtain：
Following relationship can be obtained by formula above：
So：
By above-mentioned relation, the outer ginseng estimation between laser radar and camera can be obtained.Multiframe data are done further excellent later Change.
CN201810232731.7A 2018-03-15 2018-03-15 A kind of outer ginseng calibration system between laser radar and camera and method Pending CN108399643A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810232731.7A CN108399643A (en) 2018-03-15 2018-03-15 A kind of outer ginseng calibration system between laser radar and camera and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810232731.7A CN108399643A (en) 2018-03-15 2018-03-15 A kind of outer ginseng calibration system between laser radar and camera and method

Publications (1)

Publication Number Publication Date
CN108399643A true CN108399643A (en) 2018-08-14

Family

ID=63092713

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810232731.7A Pending CN108399643A (en) 2018-03-15 2018-03-15 A kind of outer ginseng calibration system between laser radar and camera and method

Country Status (1)

Country Link
CN (1) CN108399643A (en)

Cited By (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109143205A (en) * 2018-08-27 2019-01-04 深圳清创新科技有限公司 Integrated transducer external parameters calibration method, apparatus
CN109343061A (en) * 2018-09-19 2019-02-15 百度在线网络技术（北京）有限公司 Transducer calibration method, device, computer equipment, medium and vehicle
CN109544638A (en) * 2018-10-29 2019-03-29 浙江工业大学 A kind of asynchronous online calibration method for Multi-sensor Fusion
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
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
CN109932706A (en) * 2019-04-19 2019-06-25 青岛中科慧畅信息科技有限公司 It is a kind of that nobody loads and unloads Logistics Equipment system laser Radar Calibration system and scaling method
CN110045354A (en) * 2019-04-19 2019-07-23 北京云迹科技有限公司 The method and device of radar performance evaluation and test
CN110132130A (en) * 2019-03-05 2019-08-16 上海宾通智能科技有限公司 Laser radar position calibration method, system and its data processing method, system
CN110161485A (en) * 2019-06-13 2019-08-23 同济大学 A kind of outer ginseng caliberating device and scaling method of laser radar and vision camera
CN110189381A (en) * 2019-05-30 2019-08-30 北京眸视科技有限公司 External parameters calibration system, method, terminal and readable storage medium storing program for executing
CN110827359A (en) * 2019-10-29 2020-02-21 武汉大学 Checkerboard trihedron-based camera and laser external reference checking and correcting method and device
CN110969665A (en) * 2018-09-30 2020-04-07 杭州海康威视数字技术股份有限公司 External parameter calibration method, device and system and robot
CN111308448A (en) * 2018-12-10 2020-06-19 杭州海康威视数字技术股份有限公司 Image acquisition equipment and radar external parameter determination method and device
WO2020132924A1 (en) * 2018-12-25 2020-07-02 深圳市优必选科技有限公司 Method and device for calibrating external parameters of robot sensor, robot and storage medium
CN111429530A (en) * 2020-04-10 2020-07-17 浙江大华技术股份有限公司 Coordinate calibration method and related device
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
CN111754578A (en) * 2019-03-26 2020-10-09 舜宇光学（浙江）研究院有限公司 Combined calibration method and system for laser radar and camera and electronic equipment
CN111862224A (en) * 2019-04-17 2020-10-30 杭州海康威视数字技术股份有限公司 Method and device for determining external parameters between camera and laser radar
CN111913499A (en) * 2020-07-17 2020-11-10 天津大学 Pan-tilt control method based on monocular vision SLAM and depth uncertainty analysis
US10859684B1 (en) 2019-11-12 2020-12-08 Huawei Technologies Co., Ltd. Method and system for camera-lidar calibration
CN112184828A (en) * 2020-08-21 2021-01-05 北京百度网讯科技有限公司 External parameter calibration method and device for laser radar and camera and automatic driving vehicle
CN112215905A (en) * 2020-10-22 2021-01-12 北京易达恩能科技有限公司 Automatic calibration method of mobile infrared temperature measurement system
CN112233189A (en) * 2020-12-14 2021-01-15 深圳普罗米修斯视觉技术有限公司 Multi-depth camera external parameter calibration method and device and storage medium
CN112446928A (en) * 2021-02-01 2021-03-05 南京爱奇艺智能科技有限公司 External parameter determining system and method for shooting device
CN112484746A (en) * 2020-11-26 2021-03-12 上海电力大学 Monocular vision-assisted laser radar odometer method based on ground plane
CN112840232A (en) * 2019-09-23 2021-05-25 北京嘀嘀无限科技发展有限公司 System and method for calibrating camera and lidar
CN113269840A (en) * 2021-05-27 2021-08-17 深圳一清创新科技有限公司 Combined calibration method for camera and multi-laser radar and electronic equipment
CN113848541A (en) * 2021-09-22 2021-12-28 深圳市镭神智能系统有限公司 Calibration method and device, unmanned aerial vehicle and computer readable storage medium
WO2022156176A1 (en) * 2021-01-22 2022-07-28 上海西井信息科技有限公司 Multi-radar and camera joint calibration method, system and device, and storage medium
CN115359130A (en) * 2022-10-19 2022-11-18 北京格镭信息科技有限公司 Radar and camera combined calibration method and device, electronic equipment and storage medium

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102750697A (en) * 2012-06-08 2012-10-24 华为技术有限公司 Parameter calibration method and device
CN103049912A (en) * 2012-12-21 2013-04-17 浙江大学 Random trihedron-based radar-camera system external parameter calibration method
CN103837869A (en) * 2014-02-26 2014-06-04 北京工业大学 Vector-relation-based method for calibrating single-line laser radar and CCD camera
CN104573646A (en) * 2014-12-29 2015-04-29 长安大学 Detection method and system, based on laser radar and binocular camera, for pedestrian in front of vehicle
CN104615880A (en) * 2015-01-31 2015-05-13 电子科技大学中山学院 Rapid ICP (inductively coupled plasma) method for point cloud matching of three-dimensional laser radar
CN107123142A (en) * 2017-05-09 2017-09-01 北京京东尚科信息技术有限公司 Position and orientation estimation method and device
CN107301654A (en) * 2017-06-12 2017-10-27 西北工业大学 A kind of positioning immediately of the high accuracy of multisensor is with building drawing method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102750697A (en) * 2012-06-08 2012-10-24 华为技术有限公司 Parameter calibration method and device
CN103049912A (en) * 2012-12-21 2013-04-17 浙江大学 Random trihedron-based radar-camera system external parameter calibration method
CN103837869A (en) * 2014-02-26 2014-06-04 北京工业大学 Vector-relation-based method for calibrating single-line laser radar and CCD camera
CN104573646A (en) * 2014-12-29 2015-04-29 长安大学 Detection method and system, based on laser radar and binocular camera, for pedestrian in front of vehicle
CN104615880A (en) * 2015-01-31 2015-05-13 电子科技大学中山学院 Rapid ICP (inductively coupled plasma) method for point cloud matching of three-dimensional laser radar
CN107123142A (en) * 2017-05-09 2017-09-01 北京京东尚科信息技术有限公司 Position and orientation estimation method and device
CN107301654A (en) * 2017-06-12 2017-10-27 西北工业大学 A kind of positioning immediately of the high accuracy of multisensor is with building drawing method

Cited By (47)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109143205A (en) * 2018-08-27 2019-01-04 深圳清创新科技有限公司 Integrated transducer external parameters calibration method, apparatus
CN109143205B (en) * 2018-08-27 2020-07-24 深圳一清创新科技有限公司 External parameter calibration method and device for integrated sensor
CN109343061A (en) * 2018-09-19 2019-02-15 百度在线网络技术（北京）有限公司 Transducer calibration method, device, computer equipment, medium and vehicle
US11042762B2 (en) 2018-09-19 2021-06-22 Baidu Online Network Technology (Beijing) Co., Ltd. Sensor calibration method and device, computer device, medium, and vehicle
CN110969665B (en) * 2018-09-30 2023-10-10 杭州海康威视数字技术股份有限公司 External parameter calibration method, device, system and robot
CN110969665A (en) * 2018-09-30 2020-04-07 杭州海康威视数字技术股份有限公司 External parameter calibration method, device and system and robot
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
CN109544638B (en) * 2018-10-29 2021-08-03 浙江工业大学 Asynchronous online calibration method for multi-sensor fusion
CN109544638A (en) * 2018-10-29 2019-03-29 浙江工业大学 A kind of asynchronous online calibration method for Multi-sensor Fusion
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
CN111308448A (en) * 2018-12-10 2020-06-19 杭州海康威视数字技术股份有限公司 Image acquisition equipment and radar external parameter determination method and device
WO2020132924A1 (en) * 2018-12-25 2020-07-02 深圳市优必选科技有限公司 Method and device for calibrating external parameters of robot sensor, robot and storage medium
CN110132130A (en) * 2019-03-05 2019-08-16 上海宾通智能科技有限公司 Laser radar position calibration method, system and its data processing method, system
CN111754578B (en) * 2019-03-26 2023-09-19 舜宇光学（浙江）研究院有限公司 Combined calibration method for laser radar and camera, system and electronic equipment thereof
CN111754578A (en) * 2019-03-26 2020-10-09 舜宇光学（浙江）研究院有限公司 Combined calibration method and system for laser radar and camera and electronic equipment
CN111862224B (en) * 2019-04-17 2023-09-19 杭州海康威视数字技术股份有限公司 Method and device for determining external parameters between camera and laser radar
CN111862224A (en) * 2019-04-17 2020-10-30 杭州海康威视数字技术股份有限公司 Method and device for determining external parameters between camera and laser radar
CN109932706B (en) * 2019-04-19 2022-11-29 青岛中科慧畅信息科技有限公司 Laser radar calibration system and calibration method for unmanned loading and unloading logistics equipment system
CN110045354B (en) * 2019-04-19 2021-05-11 北京云迹科技有限公司 Method and device for evaluating radar performance
CN110045354A (en) * 2019-04-19 2019-07-23 北京云迹科技有限公司 The method and device of radar performance evaluation and test
CN109932706A (en) * 2019-04-19 2019-06-25 青岛中科慧畅信息科技有限公司 It is a kind of that nobody loads and unloads Logistics Equipment system laser Radar Calibration system and scaling method
CN110189381B (en) * 2019-05-30 2021-12-03 北京眸视科技有限公司 External parameter calibration system, method, terminal and readable storage medium
CN110189381A (en) * 2019-05-30 2019-08-30 北京眸视科技有限公司 External parameters calibration system, method, terminal and readable storage medium storing program for executing
CN110161485A (en) * 2019-06-13 2019-08-23 同济大学 A kind of outer ginseng caliberating device and scaling method of laser radar and vision camera
CN112840232A (en) * 2019-09-23 2021-05-25 北京嘀嘀无限科技发展有限公司 System and method for calibrating camera and lidar
CN112840232B (en) * 2019-09-23 2024-03-22 北京航迹科技有限公司 System and method for calibrating cameras and lidar
CN110827359A (en) * 2019-10-29 2020-02-21 武汉大学 Checkerboard trihedron-based camera and laser external reference checking and correcting method and device
WO2021093240A1 (en) * 2019-11-12 2021-05-20 Huawei Technologies Co., Ltd. Method and system for camera-lidar calibration
US10859684B1 (en) 2019-11-12 2020-12-08 Huawei Technologies Co., Ltd. Method and system for camera-lidar calibration
CN111429530B (en) * 2020-04-10 2023-06-02 浙江大华技术股份有限公司 Coordinate calibration method and related device
CN111429530A (en) * 2020-04-10 2020-07-17 浙江大华技术股份有限公司 Coordinate calibration method and related device
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
CN111638499B (en) * 2020-05-08 2024-04-09 上海交通大学 Camera-laser radar relative external parameter calibration method based on laser radar reflection intensity point characteristics
CN111913499A (en) * 2020-07-17 2020-11-10 天津大学 Pan-tilt control method based on monocular vision SLAM and depth uncertainty analysis
CN111913499B (en) * 2020-07-17 2023-11-14 天津大学 Cradle head control method based on monocular vision SLAM and depth uncertainty analysis
CN112184828B (en) * 2020-08-21 2023-12-05 阿波罗智联(北京)科技有限公司 Laser radar and camera external parameter calibration method and device and automatic driving vehicle
CN112184828A (en) * 2020-08-21 2021-01-05 北京百度网讯科技有限公司 External parameter calibration method and device for laser radar and camera and automatic driving vehicle
CN112215905A (en) * 2020-10-22 2021-01-12 北京易达恩能科技有限公司 Automatic calibration method of mobile infrared temperature measurement system
CN112484746A (en) * 2020-11-26 2021-03-12 上海电力大学 Monocular vision-assisted laser radar odometer method based on ground plane
CN112233189A (en) * 2020-12-14 2021-01-15 深圳普罗米修斯视觉技术有限公司 Multi-depth camera external parameter calibration method and device and storage medium
CN112233189B (en) * 2020-12-14 2021-04-06 深圳普罗米修斯视觉技术有限公司 Multi-depth camera external parameter calibration method and device and storage medium
WO2022156176A1 (en) * 2021-01-22 2022-07-28 上海西井信息科技有限公司 Multi-radar and camera joint calibration method, system and device, and storage medium
CN112446928A (en) * 2021-02-01 2021-03-05 南京爱奇艺智能科技有限公司 External parameter determining system and method for shooting device
CN113269840A (en) * 2021-05-27 2021-08-17 深圳一清创新科技有限公司 Combined calibration method for camera and multi-laser radar and electronic equipment
CN113848541B (en) * 2021-09-22 2022-08-26 深圳市镭神智能系统有限公司 Calibration method and device, unmanned aerial vehicle and computer readable storage medium
CN113848541A (en) * 2021-09-22 2021-12-28 深圳市镭神智能系统有限公司 Calibration method and device, unmanned aerial vehicle and computer readable storage medium
CN115359130A (en) * 2022-10-19 2022-11-18 北京格镭信息科技有限公司 Radar and camera combined calibration method and device, electronic equipment and storage medium

Similar Documents

Publication Publication Date Title
CN108399643A (en) A kind of outer ginseng calibration system between laser radar and camera and method
Zhou et al. Semi-dense 3D reconstruction with a stereo event camera
CN108154550B (en) RGBD camera-based real-time three-dimensional face reconstruction method
CN103247075B (en) Based on the indoor environment three-dimensional rebuilding method of variation mechanism
CN109166077B (en) Image alignment method and device, readable storage medium and computer equipment
Schindler et al. Line-based structure from motion for urban environments
CN104376552B (en) A kind of virtual combat method of 3D models and two dimensional image
CN108764048A (en) Face critical point detection method and device
CN109544677A (en) Indoor scene main structure method for reconstructing and system based on depth image key frame
CN108038902A (en) A kind of high-precision three-dimensional method for reconstructing and system towards depth camera
CN107358633A (en) Join scaling method inside and outside a kind of polyphaser based on 3 points of demarcation things
CN110992487B (en) Rapid three-dimensional map reconstruction device and reconstruction method for hand-held airplane fuel tank
CN102222348B (en) Method for calculating three-dimensional object motion vector
CN104599284A (en) Three-dimensional facial reconstruction method based on multi-view cellphone selfie pictures
CN101365140A (en) Camera array calibration method based on matrix decomposition
Wan et al. Drone image stitching using local mesh-based bundle adjustment and shape-preserving transform
Wang et al. Pose determination of human faces by using vanishing points
CN109493415A (en) A kind of the global motion initial method and system of aerial images three-dimensional reconstruction
CN109089100B (en) Method for synthesizing binocular stereo video
Zhang et al. A practical calibration method for multiple cameras
Yoshimoto et al. Cubistic representation for real-time 3D shape and pose estimation of unknown rigid object
Liu et al. Improved template matching based stereo vision sparse 3D reconstruction algorithm
Zhang et al. Design of a 3D reconstruction model of multiplane images based on stereo vision
Matsunaga et al. Accurate 3-D reconstruction of sands from UAV image sequence
CN111010558B (en) Stumpage depth map generation method based on short video image

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
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20180814

WD01 Invention patent application deemed withdrawn after publication