CN108613697A - The device and method demarcated for the parameter to vehicle sensors - Google Patents
The device and method demarcated for the parameter to vehicle sensors Download PDFInfo
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Abstract
The present invention relates to the device and method demarcated for the parameter to vehicle sensors.The equipment includes the terrestrial coordinates positioning device and computing device for obtaining object and vehicle.In the method, the terrestrial coordinates of object is converted to the reference coordinate in vehicle axis system；The optimization calibration value of search parameter within a predetermined range, so that the error between the coordinates computed and reference coordinate of object is less than scheduled error threshold, wherein coordinates computed is position data based on the object detected by the sensor and the optimization calibration value searched and coordinate of the calculated object in vehicle axis system.
Description
Technical field
The present invention relates to a kind of device and method for being demarcated to the parameter of vehicle sensors, and the sensor can
Auxiliary travelling or automatic running system for vehicle.
Background technology
In recent years, including the intelligent driving technology of auxiliary travelling and automatic running rapidly develops, wherein environment perception technology
It is one of the core key technology in intelligent driving.Based on sensors such as three-dimensional laser radar, millimetre-wave radar, vision cameras
Target identification is one of intelligent driving key technology.
The sensor of laser radar, millimetre-wave radar, vision camera etc. is that intelligent driving system obtains external information
Important sources.Sensor parameters calibration is most important to the position judgment for perceiving object, directly influences automatic Pilot road
Diameter is planned and control effect, therefore it is particularly significant to carry out parameter calibration to sensor before the use of sensor.The ginseng of sensor
Number calibration, which is generally divided into, demarcates for internal reference calibration with outer ginseng, and wherein internal reference calibration is mostly completed by manufacturer.With three-dimensional laser thunder
For reaching, three-dimensional laser radar internal reference demarcates the conversion for referring to its inner laser transmitter coordinate system and radar local Coordinate System
Relationship has demarcated completion before manufacture.During sensor use, the detection data of output is all based on sensor
What the coordinate system of itself provided, vehicle needs to be turned according to the detection data that the sensor parameters demarcated in advance export sensor
It is changed to the relative position of object and vehicle, in other words coordinate of the object in vehicle axis system.From sensor own coordinate
It is that the calibration of parameter used in the conversion to bodywork reference frame is then needed to demarcate by outer ginseng and completed.Outer ginseng calibration needs to mark
Spin matrix between fixed two coordinate systems and translation matrix.For the three-dimensional geometry position of determining space object surface point and its
Correlation between corresponding points in the sensor, it is necessary to establish corresponding datum transformation.Datum transformation
Parameter is exactly the calibrating parameters of the sensor.Hereafter involved parameter calibration each means the outer ginseng mark of sensor to the present invention
It is fixed.
In the prior art, the parameter calibration carried out to the sensor mostly uses manual measurement distance and by experience hand
Dynamic modification parameter is completed, and the calibration accuracy obtained in this way is relatively low, and staking-out work is less efficient, manually at
This is higher.
Invention content
The object of the present invention is to provide a kind of device and method for being demarcated to the parameter of vehicle sensors, so that
Partially solve the above problem in the prior art.
The present invention provides a kind of equipment for being demarcated to the parameter of vehicle sensors, and the parameter is used for will be by institute
The position data for stating the object that sensor detects is converted to coordinate data in vehicle axis system, which is characterized in that described
Equipment includes：
Positioning device can obtain the terrestrial coordinates of object and vehicle；With
Computing device comprising：
Coordinate transferring, the coordinate transferring is based on the object and vehicle obtained by the positioning device
Terrestrial coordinates the terrestrial coordinates of the object is converted into reference coordinate of the object in vehicle axis system；With
Parameter searching module, the parameter searching module can search for the optimization calibration value of the parameter, make within a predetermined range
The error obtained between the coordinates computed and the reference coordinate of the object is less than scheduled error threshold, wherein the calculating
Coordinate is position data based on the object detected by the sensor and is searched by the parameter searching module
Optimization calibration value and coordinate of the calculated object in the vehicle axis system.
Preferably, the positioning device positions the object and vehicle using Differential Global Positioning System, with
Obtain the terrestrial coordinates of object and vehicle.
Preferably, the terrestrial coordinates includes Gauss coordinate.
Preferably, the parameter includes reference axis offset and rotation angle.
Preferably, the parameter searching module uses the optimization calibration value of parameter described in Genetic algorithm searching.
Preferably, the object includes at least two objects.
Preferably, the error includes the sum of the Euclidean distance between the coordinates computed and reference coordinate of each object.
The present invention also provides a kind of method for being demarcated to the parameter of vehicle sensors, the parameter is for will be by
The position data that the sensor detects is converted to the coordinate data in vehicle axis system, which is characterized in that the method packet
It includes：
Positioning step obtains the terrestrial coordinates of object and vehicle in the positioning step by positioning device；
Coordinate switch process, the terrestrial coordinates based on the object and vehicle is by the mesh in the coordinate switch process
The terrestrial coordinates of mark object is converted to the reference coordinate in vehicle axis system；With
Parameters searching step searches for the optimization calibration of the parameter within a predetermined range in the parameter search mould step
Value so that the error between the coordinates computed of the object and the reference coordinate is less than scheduled error threshold, wherein institute
It is position data based on the object detected by the sensor and by the parameter searching module to state coordinates computed
The optimization calibration value that searches and coordinate of the calculated object in the vehicle axis system.
Preferably, in the positioning step, the positioning device is using Differential Global Positioning System to the object
It is positioned with vehicle, to obtain the terrestrial coordinates of object and vehicle.
Preferably, the terrestrial coordinates includes Gauss coordinate.
Preferably, the parameter includes reference axis offset and rotation angle.
Preferably, the optimization calibration value of parameter described in Genetic algorithm searching is used in the parameters searching step.
Preferably, the object includes at least two objects.
Preferably, the error includes the sum of the Euclidean distance between the coordinates computed and reference coordinate of each object.
Description of the drawings
Illustrate specific embodiments of the present invention below in reference to the mode of attached drawing only by way of non-limiting example, wherein：
Fig. 1 schematically shows the live vertical view that vehicle sensors are carried out with parameter calibration；
Fig. 2 is the diagrammatic view in principle block diagram of calibration facility according to the present invention；
Fig. 3 is the broad flow diagram that parameter calibration is carried out by calibration facility according to the present invention and scaling method；
Fig. 4 shows the principle flow chart of used genetic algorithm in one example；With
Fig. 5 shows the structure of the initial population of used genetic algorithm in the examples described above.
Specific implementation mode
The specific implementation mode that the present invention will be described in detail below with reference to accompanying drawings.It should be noted that for the sake of clarity, each attached drawing
It is not necessarily drawn to scale.Moreover, in order to clearly stand out important technology feature to be expressed, can be omitted in certain attached drawings
Or other technical characteristics are schematically shown only, but specific embodiment is not limited thereto.
Calibration facility and scaling method according to the present invention can be applied to any vehicle, robot driving on the road
Delivery vehicle DAS (Driver Assistant System) or the sensor used in automated driving system.It hereafter will be by taking vehicle as an example to this hair
Bright calibration facility and scaling method illustrates, the vehicle can be car, truck, logistic car, automatic driving vehicle or
Arbitrary other kinds of vehicle.
Fig. 1 schematically shows the live vertical view that vehicle sensors are carried out with parameter calibration.To being mounted on vehicle 1
Sensor 2 demarcated during, need the drop target object 3 in the detection zone of sensor 2, by externally measured and
It calculates and determines actual coordinate of the object 3 in vehicle axis system, and as reference coordinate.Adjust the seat of sensor 2
Conversion parameter is marked, so that detection data and coordinate transformation parameter and calculated object 3 based on sensor output are in vehicle
Coordinates computed in coordinate system matches with the reference coordinate as possible, to complete the parameter calibration to sensor 2.It is described
Coordinate transformation parameter includes reference axis offset and rotation angle.Calibration facility according to the present invention and scaling method can be applied to carry out
The sensor type of parameter calibration includes but not limited to millimetre-wave radar, vision camera, IBEO laser radars, Velodyne laser
Radar and Sick laser radars etc..
In the example depicted in fig. 1, it is compactly illustrated in order to clear, illustrates only an object 3, however target
The quantity of object can be determined with calibration demand according to the type of sensor.For example, for the two dimension of such as single line laser radar
Two objects are usually arranged in the parameter calibration of sensor, but three objects of setting can then form a set of redundancy
Calibration system increases the robustness and accuracy of parameter calibration.For the parameter of the three-dimension sensor of such as multi-line laser radar
Calibration then needs that at least three objects not on the same line are arranged.In the selection of targets of type, usually it should ensure that
The object is easy to be identified by sensor and position is fixed, such as can select lamp post, carton and similar object.Separately
Outside, in the example depicted in fig. 1, for vehicle axis system using vehicle front end center as origin, longitudinal direction of car direction is x-axis side
To vehicular transverse direction is y-axis direction, and vertical direction is z-axis direction (from the vertical outwardly direction of the paper of Fig. 1).On however,
It states vehicle axis system to be merely exemplary, vehicle axis system can also otherwise be set according to concrete application demand.
Fig. 2 is the diagrammatic view in principle block diagram of calibration facility according to the present invention.As shown in Fig. 2, according to the present invention be used for
The equipment demarcated to the parameter of vehicle sensors includes positioning device 4 and computing device 5.The positioning device 4 can wrap
Multiple setting elements are included, two setting elements 41 and 42 are only symbolically specifically illustrated in Fig. 1.The setting element can be distinguished
It is placed on each object and vehicle, to obtain the terrestrial coordinates of respective objects object and vehicle.Specifically, the positioning member
Part can be arranged at the position of the focus on object, and the terrestrial coordinates of thus obtained object is actually the concern
The terrestrial coordinates of point.Herein, the terrestrial coordinates of the vehicle refers to the terrestrial coordinates of vehicle axis system origin, therefore is arranged
Setting element on vehicle can be arranged directly at the origin position of vehicle axis system, thus directly obtain vehicle axis system
The terrestrial coordinates of origin will hereafter be illustrated as example.Alternatively, the setting element can also be arranged on vehicle
In vehicle axis system at the fixed other positions in position, it is possible thereby to based on the terrestrial coordinates obtained by the setting element and
Connect the terrestrial coordinates for extrapolating vehicle axis system origin.
The positioning device 4 can be by such as global positioning system (GPS), Galileo (GALILEO), GLONASS
(GLONASS), the Big Dipper (COMPASS) and similar positioning means obtain the terrestrial coordinates of each object and vehicle or space is sat
Mark.In an embodiment of the present invention, it is preferred to use Differential Global Positioning System (DGPS) carries out the object and vehicle
Positioning, to obtain the terrestrial coordinates of object and vehicle.The accuracy of centimetres can be reached by the DGPS positioning obtained,
To provide accurate assessment benchmark for sensor parameters calibration.
The computing device 5 includes coordinate transferring 51 and parameter searching module 52.The computing device 5 can pass through
It is realized by central processing unit, read-only memory and random access memory etc. of bus connection.The computing device 5 can be with
With input interface, the input interface is communicated to connect with the positioning device 4, to receive the positioning from the positioning device
Data, the location data contain the terrestrial coordinates of each object and vehicle.Alternatively, the input interface may include for example
The manual input device of keyboard and mouse is manually entered the location data obtained from the positioning device 4 by operator.It is described
Computing device 5 can also have output interface, and result of calculation is output to the external equipment of such as display.
The coordinate transferring 51 can be based on the earth of each object and vehicle obtained by the positioning device 4
The terrestrial coordinates of object is converted to the reference coordinate in vehicle axis system by coordinate.The reference coordinate of object is to be based on
The accurate actually detected result of the positioning device 4 and be converted to, therefore can as sensor parameters demarcate
Assess benchmark.
The parameter searching module 52 can search for the value of the parameter in the preset range of each parameter of sensor, and
The object is calculated in vehicle based on the position data of the object detected by sensor using the value of the parameter searched
Coordinates computed in coordinate system, to find so that the error between the coordinates computed and the reference coordinate of the object most
It is small or make the error be less than scheduled error threshold parameter optimization calibration value.The error threshold can be wanted according to calibration
It asks and determines, error threshold is smaller, and calibration accuracy is higher.Need the preset range for the sensor parameters demarcated can be according to factory
Installation site on vehicle of product manual and sensor that quotient provides and estimate.The parameter searching module may be used various
Applicable optimal solution search algorithm carrys out the optimization calibration value of search parameter, for example, the optimal solution search algorithm includes but unlimited
In genetic algorithm, simulated annealing, ant group algorithm and hill-climbing algorithm etc..Hereafter will using genetic algorithm as example come illustrate by
Calibration facility according to the present invention and method and the specific embodiment of transducer calibration process realized.
Fig. 3 schematically shows the main stream that parameter calibration is carried out by calibration facility according to the present invention and scaling method
Journey.First in step sl, it will be placed in the object detection area of sensor for the object of parameter calibration, so as to
It is detected by a sensor；And the setting element of positioning device 4 is individually positioned on object and vehicle.The quantity of object
Manner as described above is can refer to the specific location of type and setting element on object and vehicle to choose.In the implementation
In example, the quantity of object is 3, and the setting element on vehicle is arranged at the origin of vehicle axis system.
Then, in step s 2, the terrestrial coordinates of each object and vehicle is obtained by the positioning device 4.As above
It is described, preferably use DGPS devices as the positioning device in an embodiment of the present invention.Pass through DGPS in this embodiment
The vehicle latitude and longitude coordinates of acquisition are (116.35077426,40.08581336), and the latitude and longitude coordinates of three objects are divided
Not Wei (116.35068578,40.08519703), (116.35078071,40.08513468), (116.35088465,
40.08501531)。
Since the data that DGPS devices are obtained are latitude and longitude coordinates, thus need then to be sat in following steps S3
Mark conversion.It in step s3, can be first by following conversion formula (1) by longitude and latitude for the ease of being transformed into vehicle axis system
Degree coordinate is converted to the coordinate under gauss projection coordinate system.
In formula (1), X, Y, Z are gauss projection coordinate system coordinate, and B is latitude, and H is height, and L is longitude, and N is ellipsoid
Radius surface, e are the first eccentricity of ellipsoid.
In this embodiment, the vehicle axis system origin and three objects being calculated by above-mentioned conversion formula (1)
Gauss projection coordinate it is as follows：
Vehicle：(4439129.3665807,444629.378000363)；
Object 1：(4439190.98589982,444621.332306947)；
Object 2：(4439184.00363029,444629.378236009)；With
Object 3：(4439170.68440501,444638.146441265).
After obtaining the gauss projection coordinate of vehicle and object, can further it be counted according to following transformation for mula (2)
Coordinate of the object in vehicle axis system is calculated, is substantially the coordinate transform under different referentials.
Relative coordinate=absolute coordinate-involves coordinate
In formula (2), absolute coordinate is coordinate of the object in gauss projection coordinate system, involves coordinate and is sat for vehicle
For mark system origin in the coordinate in gauss projection coordinate system, relative coordinate is practical seat of the object in vehicle axis system
Mark, will be assessed as reference coordinate with the result to parameter calibration.
In this embodiment, under conditions of evenness of road surface, the height of vehicle origin and three objects may be set to
1.5 meters, it is possible thereby to obtain actual coordinate or reference coordinate of each object in vehicle axis system according to above-mentioned formula (2)
P1, p2 and p3 are as follows：
p1：(- 8.045693416,61.61931912,1.50)；
p2：(0,54.63704959,1.50)；With
p3：(8.768440902,41.31782431,1.50).
Next, in step s 4, as described above, being searched within a predetermined range by the parameter searching module 52 each
The Optimal Calibration value of parameter.Fig. 4 shows the principle flow chart scanned in this embodiment by genetic algorithm, hereafter will
It is described in detail.
First, in step S41, the binary code for the parameter demarcated by needs is combined into the population for genetic algorithm,
And randomly generate initial population.The operand of genetic algorithm is to indicate the symbol string of individual, and the individual of initial population is two
Ary codes form, each only has 0 or 1 two kind of possibility, therefore initial population can be used by means of random number and to random number
To generate, (it is 1 to be taken true higher than threshold value to threshold decision, is 0) vacation takes less than threshold value.The parameter to be demarcated includes the inclined of reference axis
Shifting amount and rotation angle, that is, X-axis offset xoffset, Y-axis offset yoffset, Z axis offset zoffset, the rotation around X-axis
Corner roll, rotation angle pitch and rotation angle yaw about the z axis around Y-axis.It indicates to need to mark with unsigned binary integers
Fixed each parameter, and the corresponding binary code of each parameter is pressed into xoffset, yoffset, zoffset, roll, pitch, yaw
Be sequentially connected with, i.e., composition for heredity selection population.It is hereby achieved that the parameter combination under different situations
With the unique corresponding relation of binary code.
Specifically, as described above, the predetermined value range of each parameter can according to the product manual that manufacturer provides and
Installation site of the sensor on vehicle and estimate.For example, in this embodiment, for xoffset, first according to sensing
Device 2 is estimated to obtain the value range of xoffset relative to the installation site of vehicle axis system origin and the product manual of sensor
It is 0~4 (rice).To reach the other positioning accuracy of Centimeter Level, indicate that the binary code of xoffset at least should be 10.Random production
Raw 10 bit codes 0101010101, corresponding xoffset calibrating parameters are 1.333, are fallen in its predetermined value range.
The binary code of remaining five parameter and corresponding calibrating parameters can be obtained by same mode.By the two of this 6 parameters
Ary codes then obtain initial population as shown in Figure 5 later by the connection of above-mentioned sequencing.
As it can be seen that parameter to be solved is more, and the binary code of each parameter connects the binary number digit obtained later
It is larger.The binary code digit of single species in the present embodiment is 64, therefore initial population scale m is also chosen to be 64, with
Avoid because population scale is too small be absorbed in locally optimal solution the case where.
Then, the fitness function for the genetic algorithm is determined in step S42 and screens population as standard
Individual.The key player of fitness function in the genetic algorithm individual survival of the fittest standard in play to population, suitably
The fitness function of selection quickly can obtain best suiting the optimal solution of requirement.In bodywork reference frame, it can will pass through the something lost
The coordinates computed (p1*, p2*, p3*) of each object that propagation algorithm iteration obtains and each object said reference coordinate (p1,
P2, p3) between offset distance as weigh calibration accuracy standard.Therefore, it is possible to will be calculated according to following formula (3)
The sum of Euclidean distance between coordinates computed and reference coordinate of each object in vehicle axis system Dis is as the genetic algorithm
Fitness function.
It can be selected the superior and eliminated the inferior to each individual of initial population according to above-mentioned fitness function.For the genetic algorithm
Roulette (RWS, Roulette Wheel Selection) method may be used, joined according to the calibration of each iteration of genetic algorithm
The position data for the object that numerical value and sensor detect and calculate coordinates computed of each object in vehicle axis system
(p1*, p2*, p3*), and calculate its sum of Euclidean distance between the reference coordinate (p1, p2, p3) of each object
Dis.The corresponding probability of Dis is calculated according to fitness function, ensures there there is more the higher individual of fitness in current group
Chance be genetic to the next generation.
Then, a when reaching m to the individual amount that initial population reselects using RWS methods in step S43
When, a new population is formed with the m new individual that new selection generates.Then in step S44, new population implementation is intersected,
Mutation operator.Then judge whether iterations reach predetermined iterations threshold value n in step S45.If iterations do not arrive
Up to n, then the above survival of the fittest process is repeated；If iterations reach n, stop iteration, obtains the optimization calibration of calibrating parameters
Value.
In this embodiment, the mesh detected according to corresponding six calibrating parameters of above-mentioned initial population individual and sensor
It marks the position data of object and calculates coordinates computed p1*, p2* and the p3* of each object in vehicle axis system and be respectively：
p1*：(7.0153,64.0429,1.5196)；
p2*：(0.2571,56.8722,1.4718)；With
p3*：(8.5484,42.7765,1.4361).
According to formula (3), fitness function Dis=0.01 is set, initial population is commented using the fitness function as standard
Estimate the selection for adapting to probability and carrying out RWS methods, the process for repeating 64 selections obtains 64 winning individuals, is generated to selection
New population executes cross compile operation, repeats the above iterative process, and the binary coding for obtaining optimum individual is as follows：
1100111011001010110011011100111100110011011010110110110101010111
Corresponding calibrating parameters value (xoffset=2.342, yoffset=0.213, the zoffset=of the binary code
1.468, roll=2.444, pitch=3.132, yaw=1.928) it is the Optimal Calibration value of each parameter finally obtained, by
This completes calibration process according to the present invention.
The sensor calibration facility according to the present invention and method can be adapted for the parameter calibration of multiple sensors.It is logical
It crosses and is demarcated using the automatic positioning equipment of such as DGPS and the optimal solution search method of such as genetic algorithm, can be carried significantly
The quality and efficiency of high staking-out work, reduce the cost of staking-out work.
Technical scheme of the present invention can be applied to ordinary passenger car, commercial car, automatic running logistic car, automatic guided vehicle
The parameter calibration of the related sensor of (AGV, Automated Guided Vehicle), transfer robot etc. and any other
Applicable field.
Although with reference to the preferred embodiment of the present invention and having illustrated the present invention, those skilled in the art should manage
It solves, the various features in the various embodiments described above of the invention can be reconfigured suitably and form variant scheme, and ability
Field technique personnel can make above-described embodiment various other variants and modifications, make equivalent technical solutions, and apply
In various fields, without departing from the scope of the present invention.
Claims (14)
1. a kind of equipment for being demarcated to the parameter of vehicle sensors, the parameter by the sensor for that will be detected
To the position data of object be converted to the coordinate data in vehicle axis system, which is characterized in that the equipment includes：
Positioning device can obtain the terrestrial coordinates of object and vehicle；With
Computing device comprising：
Coordinate transferring, ground of the coordinate transferring based on the object and vehicle obtained by the positioning device
The terrestrial coordinates of the object is converted to reference coordinate of the object in vehicle axis system by spherical coordinates；With
Parameter searching module, the parameter searching module can search for the optimization calibration value of the parameter within a predetermined range so that institute
The error stated between the coordinates computed of object and the reference coordinate is less than scheduled error threshold, wherein the coordinates computed
It is position data based on the object detected by the sensor and is searched by the parameter searching module excellent
Change calibration value and coordinate of the calculated object in the vehicle axis system.
2. equipment according to claim 1, which is characterized in that the positioning device is using Differential Global Positioning System to institute
It states object and vehicle is positioned, to obtain the terrestrial coordinates of object and vehicle.
3. equipment according to claim 1, which is characterized in that the terrestrial coordinates includes Gauss coordinate.
4. equipment according to claim 1, which is characterized in that the parameter includes reference axis offset and rotation angle.
5. according to the equipment described in any one in Claims 1-4, which is characterized in that the parameter searching module uses
The optimization calibration value of parameter described in Genetic algorithm searching.
6. according to the equipment described in any one in Claims 1-4, which is characterized in that the object includes at least two
A object.
7. equipment according to claim 6, which is characterized in that the error includes the coordinates computed and benchmark of each object
The sum of Euclidean distance between coordinate.
8. a kind of method for being demarcated to the parameter of vehicle sensors, the parameter by the sensor for that will be detected
To position data be converted to the coordinate data in vehicle axis system, which is characterized in that the method includes：
Positioning step obtains the terrestrial coordinates of object and vehicle in the positioning step by positioning device；
Coordinate switch process, the terrestrial coordinates based on the object and vehicle is by the object in the coordinate switch process
Terrestrial coordinates be converted to the reference coordinate in vehicle axis system；With
Parameters searching step is searched for the optimization calibration value of the parameter, is made within a predetermined range in the parameter search mould step
The error obtained between the coordinates computed and the reference coordinate of the object is less than scheduled error threshold, wherein the calculating
Coordinate is position data based on the object detected by the sensor and is searched by the parameter searching module
Optimization calibration value and coordinate of the calculated object in the vehicle axis system.
9. according to the method described in claim 8, it is characterized in that, in the positioning step, it is poor that the positioning device uses
Point global positioning system positions the object and vehicle, to obtain the terrestrial coordinates of object and vehicle.
10. according to the method described in claim 8, it is characterized in that, the terrestrial coordinates includes Gauss coordinate.
11. according to the method described in claim 8, it is characterized in that, the parameter includes reference axis offset and rotation angle.
12. according to the method described in any one in claim 8 to 11, which is characterized in that in the parameters searching step
The middle optimization calibration value using parameter described in Genetic algorithm searching.
13. according to the method described in any one in claim 8 to 11, which is characterized in that the object includes at least
Two objects.
14. according to the method for claim 13, which is characterized in that the error includes the coordinates computed and base of each object
The sum of Euclidean distance between quasi coordinates.
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| CN201810547016.2A CN108613697A (en) | 2018-05-31 | 2018-05-31 | The device and method demarcated for the parameter to vehicle sensors |
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| CN111289957A (en) * | 2020-03-10 | 2020-06-16 | 上海高仙自动化科技发展有限公司 | External parameter calibration method and device, intelligent robot and computer readable storage medium |
| CN111771137A (en) * | 2019-01-30 | 2020-10-13 | 深圳市大疆创新科技有限公司 | Radar external parameter calibration method and device and storage medium |
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| CN115616510A (en) * | 2022-12-05 | 2023-01-17 | 广州市德赛西威智慧交通技术有限公司 | Traffic millimeter wave radar calibration method and system |
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