CN109901141A - A kind of scaling method and device - Google Patents
A kind of scaling method and device Download PDFInfo
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- CN109901141A CN109901141A CN201910151687.1A CN201910151687A CN109901141A CN 109901141 A CN109901141 A CN 109901141A CN 201910151687 A CN201910151687 A CN 201910151687A CN 109901141 A CN109901141 A CN 109901141A
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Abstract
The embodiment of the present application discloses a kind of scaling method and device, according to the test result of laser radar, first coordinate value of the available test point in radar fix system, photoelectric device wherein can be set at test point, photoelectric device can produce current signal in the laser signal for receiving laser radar, be that photoelectric device applies voltage based on current signal, so that photoelectric device shines, in this way, the test point position by laser radar detection can be brighter.The position of the luminous point in target image shot according to camera and the parameter of camera can determine second coordinate value of the test point in camera coordinates system.According to first coordinate value and test point second coordinate value in camera coordinates system of the test point in radar fix system, it can determine the coordinate conversion parameter of radar fix system and camera coordinates system, to realize the calibration of laser radar and camera, without manual identified test point, the efficiency and accuracy rate of calibration are improved.
Description
Technical field
The present invention relates to computer fields, more particularly to a kind of scaling method and device.
Background technique
Currently, can position to target object by laser radar, target object is obtained relative to laser radar
Three-dimensional coordinate, however the information such as the other information, such as color of target object cannot be obtained by laser radar.Equally, pass through
Camera can shoot target object, obtain include the information such as the color of target object target image, however pass through
Camera cannot obtain the physical location of target object.
Therefore, it under many scenes, for the information of Overall Acquisition target object, using laser radar and can take the photograph simultaneously
Acquisition of information is carried out as head, specifically, obtaining position of the target object relative to laser radar by laser radar, passes through mesh
Logo image obtains position of the target object relative to camera, further according to the relative position of laser radar and camera, to acquisition
Information summarized, obtain the comprehensive information of target object.
In actual operation, laser radar and camera have certain relative position, are carrying out information to target object
Before acquisition, the position to laser radar and camera is needed to demarcate, so that the information to target object summarizes.It is existing
Have in technology, test point can be chosen on target object, is believed by manual identified test point in the test that laser radar obtains
Position in breath, to determine coordinate of the test point in radar fix system, and by manual identified test point in target image
Position is to obtain coordinate of the test point in camera coordinates system, and according to same test point in the test information that radar obtains
The position of laser radar and camera is demarcated in position in position and target image.
However, position and test point of the manual identified test point in the test information that laser radar obtains are in target
Position in image has certain subjectivity, is easy error, while manual identified efficiency is lower, causes calibration efficiency lower.
Summary of the invention
In order to solve the above technical problems, the embodiment of the present application provides a kind of scaling method and device, can be swashed automatically
The calibration of the position of optical radar and camera improves the efficiency and accuracy of calibration.
The embodiment of the present application provides a kind of scaling method, which comprises
According to the test result of laser radar, first coordinate value of the test point in radar fix system is obtained；The test
Photoelectric device is provided at point, the photoelectric device is used to generate electric current letter when receiving the laser signal of the laser radar
Number；
It is that the photoelectric device applies voltage based on the current signal, so that the photoelectric device shines；
The position of the luminous point in target image shot according to camera determines the test point in camera coordinates
The second coordinate value in system；
According to the second coordinate value of the first coordinate value of the test point and the test point, the radar fix system is determined
With the coordinate conversion parameter of the camera coordinates system.
Optionally, the test point is multiple, then first coordinate value according to the test point and the test point
The second coordinate value, determine the coordinate conversion parameter of the radar fix system and the camera coordinates system, comprising:
According to the corresponding relationship of the first coordinate value of each test point and the second coordinate value of each test point,
Determine the coordinate conversion parameter of the radar fix system and the camera coordinates system.
Optionally, described according to the first coordinate value of each test point and the second coordinate value of each test point
Corresponding relationship, determine the coordinate conversion parameter of the radar fix system and the camera coordinates system, comprising:
Position of each test point in radar fix system is determined according to the first coordinate value of each test point
Relationship；
Position of each test point in camera coordinates system is determined according to the second coordinate value of each test point
Relationship；
It is sat according to positional relationship of each test point in radar fix system and each test point in camera
Positional relationship in mark system determines that the first coordinate value of each test point and the corresponding of the second coordinate value of each test point close
System；
According to the corresponding relationship of the first coordinate value of each test point and the second coordinate value of each test point,
Determine the coordinate conversion parameter of the radar fix system and the camera coordinates system.
Optionally, described to be based on the current signal, apply voltage for the photoelectric device, comprising:
Based on the current signal, position and/or the serial number of the photoelectric device are determined；
According to the position of the photoelectric device and/or serial number, apply voltage for the photoelectric device.
Optionally, the coordinate conversion parameter includes: coordinate translation matrix, or, coordinate translation matrix and coordinate spin moment
Battle array.
Optionally, the photoelectric device is the combination of photosensitive element and light-emitting component.
The embodiment of the present application also provides a kind of caliberating device, described device includes:
First coordinate value acquiring unit obtains test point in radar fix system for the test result according to laser radar
In the first coordinate value；Photoelectric device is provided at the test point, the photoelectric device is for receiving the laser thunder
Current signal is generated when the laser signal reached；
Voltage applying unit, for being that the photoelectric device applies voltage based on the current signal, so that the photoelectricity
Device shines；
Second coordinate value acquiring unit, the position of the luminous point in target image for being shot according to camera,
Determine second coordinate value of the test point in camera coordinates system；
Coordinate conversion parameter determination unit, for according to the second of the first coordinate value of the test point and the test point
Coordinate value determines the coordinate conversion parameter of the radar fix system and the camera coordinates system.
Optionally, the test point is multiple, then the coordinate conversion parameter determination unit, comprising:
Coordinate conversion parameter determines subelement, according to the first coordinate value of each test point and each test point
The second coordinate value corresponding relationship, determine the coordinate conversion parameter of the radar fix system and the camera coordinates system.
Optionally, the coordinate conversion parameter determines subelement, comprising:
First position Relation acquisition unit, for determining each survey according to the first coordinate value of each test point
Positional relationship of the pilot in radar fix system；
Second position Relation acquisition unit, for determining each survey according to the second coordinate value of each test point
Positional relationship of the pilot in camera coordinates system；
Corresponding relationship determination unit, for the positional relationship according to each test point in radar fix system, and
Positional relationship of each test point in camera coordinates system, determine each test point the first coordinate value and each test point
The second coordinate value corresponding relationship；
Parameter determination unit, for according to the second of the first coordinate value of each test point and each test point
The corresponding relationship of coordinate value determines the coordinate conversion parameter of the radar fix system and the camera coordinates system.
Optionally, the voltage applying unit, comprising:
Information determination unit determines position and/or the serial number of the photoelectric device for being based on the current signal；
Voltage apply subelement, for according to the photoelectric device position and/or serial number, for the photoelectric device apply
Voltage.
Optionally, the coordinate conversion parameter includes: coordinate translation matrix, or, coordinate translation matrix and coordinate spin moment
Battle array.
Optionally, the photoelectric device is the combination of photosensitive element and light-emitting component.
The embodiment of the present application provides a kind of scaling method and device, available according to the test result of laser radar
First coordinate value of the test point in radar fix system, wherein can be set photoelectric device at test point, photoelectric device is connecing
It can produce current signal when receiving the laser signal of laser radar, be photoelectric device application voltage based on current signal, so that
Photoelectric device shines, and using the luminous point in the target image that camera is shot as test point, determines test point in camera
The second coordinate value in coordinate system, in this way, according to first coordinate value of the test point in radar fix system and test point in camera
The second coordinate value in coordinate system, can determine the coordinate conversion parameter of radar fix system and camera coordinates system, swash to realize
The calibration of optical radar and camera.Therefore, in the embodiment of the present application, camera can be realized by making test point position shine
Identification to test point, luminous test point and the test point for receiving the laser signal of laser radar are the same points, in this way may be used
The coordinate conversion parameter of radar fix system and camera coordinates system is calculated, it is not necessarily to manual identified test point, improves calibration
Efficiency and accuracy rate.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations as described in this application
Example, for those of ordinary skill in the art, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow chart of scaling method provided by the embodiments of the present application；
Fig. 2 is the exemplary diagram of one of the embodiment of the present application coordinate；
Fig. 3 is a kind of structural block diagram of caliberating device provided by the embodiments of the present application.
Specific embodiment
Currently, can position to target object by laser radar, target object is obtained relative to laser radar
Three-dimensional coordinate, however the information such as the other information, such as color of target object cannot be obtained by laser radar.Equally, pass through
Camera can shoot target object, obtain include the information such as the color of target object target image, however pass through
Camera cannot obtain the physical location of target object.
Therefore, it under many scenes, for the information of Overall Acquisition target object, using laser radar and can take the photograph simultaneously
Acquisition of information is carried out as head, specifically, obtaining position of the target object relative to laser radar by laser radar, passes through mesh
Logo image obtains position of the target object relative to camera, further according to the relative position of laser radar and camera, to acquisition
Information summarized, obtain the comprehensive information of target object.
Inventor has found that in actual operation, laser radar and camera have certain relative position,
Before carrying out acquisition of information to target object, the position to laser radar and camera is needed to demarcate, so as to target pair
The information of elephant is summarized.In the prior art, test point can be chosen on target object, swashed by manual identified test point
The position in test information that optical radar obtains, to determine coordinate of the test point in radar fix system, and passes through manual identified
Test point in the position of target image to obtain coordinate of the test point in camera coordinates system, and according to same test point in radar
The position in position and target image in the test information of acquisition, demarcates the position of laser radar and camera.
However, position and test point of the manual identified test point in the test information that laser radar obtains are in target
Position in image has certain subjectivity, is easy error, while manual identified efficiency is lower, causes calibration efficiency lower.
Based on this, the embodiment of the present application provides a kind of scaling method and device can according to the test result of laser radar
To obtain first coordinate value of the test point in radar fix system, photoelectric device, phototube wherein can be set at test point
Part can produce current signal in the laser signal for receiving laser radar, be that photoelectric device applies electricity based on current signal
Pressure, using the luminous point in the target image that camera is shot as test point, determines test point so that photoelectric device shines
The second coordinate value in camera coordinates system, in this way, the first coordinate value and test point according to test point in radar fix system
The second coordinate value in camera coordinates system, can determine the coordinate conversion parameter of radar fix system and camera coordinates system, thus
Realize the calibration of laser radar and camera.Therefore, it in the embodiment of the present application, can be realized by making test point position shine
Identification of the camera to test point, luminous test point and the test point for receiving the laser signal of laser radar are the same points,
The coordinate conversion parameter of radar fix system and camera coordinates system can be calculated in this way, be not necessarily to manual identified test point, improve
The efficiency and accuracy rate of calibration.
With reference to the accompanying drawing, a kind of scaling method and device provided by the embodiments of the present application are described in detail by embodiment
Specific implementation.
It show a kind of flow chart of scaling method provided by the embodiments of the present application with reference to Fig. 1, may comprise steps of.
S101 obtains first coordinate value of the test point in radar fix system according to the test result of laser radar.
Laser radar is the radar to emit detecting laser beam target object, its working principle is that swashing to target object transmitting
Then light beam compares the reflected echo-signal of slave target object received with detectable signal as detectable signal
Compared with to obtain the relevant information of target object, such as target object and relative distance, direction, the speed of laser radar etc., very
Extremely can be by being scanned to each characteristic point on target object, the ginseng such as posture and shape of available target object
Number.
In the embodiment of the present application, the test result of laser radar may include emission time and the direction of detectable signal, with
And the time of reception and the direction of echo-signal.According to the test result of laser radar, can determine test point in emission time and
Distance and direction of the intermediate time of the time of reception relative to laser radar, and then determine the of test point in radar fix system
One coordinate value.In radar fix system, the position of laser radar can be used as co-ordinate zero point, refering to what is shown in Fig. 2, real for the application
A kind of coordinate example in example is applied, first coordinate value P1 of the test point P in radar fix system O1x1y1z1 is (xm, ym, zm).
Such as the emission time of the detectable signal of laser radar is t1, direction of the launch θ, time of reception t2, receiving direction
It for θ, is returned it may be considered that being issued to echo-signal from detectable signal, the distance that laser is passed by is laser radar and test point
2 times of distance s, elapsed time are the interval of emission time and the time of reception.Therefore, test point and laser radar distance s
For light velocity c and time interval (t2-t1) product half, as c* (t2-t1)/2, direction θ.
Test point is in the test scope of laser radar and by the point of laser radar detection.For example, can swash
One face wall is set in front of optical radar, and each point on wall is in the test scope of laser radar, by laser radar on wall
Point detected, using the point detected as test point.
Detected test point can be one, and radar fix system is parallel with the reference axis of camera coordinates system at this time.
Certainly, usually, radar fix system is not necessarily parallel with camera coordinates system, in order to further to test result into
Row processing, detected test point can be multiple, and obtained test result is also possible to the corresponding test of multiple test points and ties
Fruit, according to the test result of multiple test points, available multiple test points the first coordinate value in radar fix system respectively.
Specifically, multiple test points can form array distribution, also may be constructed specific shape, such as constitute straight line, curve, and three
Angular, quadrangle etc..Each test point can have serial number, such as constitute 10 test points of straight line, and serial number is respectively
1-10。
In order to identify test point, photoelectric device can be set at test point, photoelectric device can receive laser
Current signal is generated when the laser signal of radar emission.In the specific implementation, light can be set on the wall before laser radar
The array of electrical part, photoelectric device may include light-sensitive element, such as photodiode, phototriode etc..Based on different
Light-sensitive element is different to the perception of light, and laser radar can be tested under conditions of different brightness, if the sense of light-sensitive element
Light ability is stronger, then can test in darkroom test point.
Due to when photoelectric device is arranged, generally can not look-ahead which point be test point, then can be in advance multiple
More multiple photoelectric devices are set on position, during laser radar work, laser signal will be received and generate current signal
Point where photoelectric device is as test point.For example, the photoelectric device in array distribution can be set on the wall, in laser
During radar works, the photoelectric device of first row receives laser signal, then can be by the position where the photoelectric device of first row
It sets as test point.
S102 is that photoelectric device applies voltage based on current signal, so that the photoelectric device at test point shines.
Based on the current signal that photoelectric device generates, the position for receiving the photoelectric device of laser signal can be determined, i.e.,
The position of test point, such as the photoelectric device of the first row secondary series produce current signal, then the position where the photoelectric device
As test point.
Based on the current signal that photoelectric device generates, the serial number of photoelectric device, the i.e. serial number of test point can also be determined.Example
In 1-90 photoelectric device, the 5th photoelectric device produces current signal, then the position where the photoelectric device is to test
Point.
Position and/or serial number based on photoelectric device can apply voltage for photoelectric device, photoelectric device made to shine.Cause
This, includes light-emitting component, such as light emitting diode, light emitting transistor etc. in photoelectric device.Here photoelectric device can be one
A element, while having the function of that receiving laser signal generates current signal and shine two kinds after being powered, and is also possible to photosensitive member
The combination of part and light-emitting component.
S103, the position of the luminous point in target image shot according to camera determine that test point is sat in camera
The second coordinate value in mark system.
As previously mentioned, test point is the point of laser radar detection, and photoelectric device is provided at test point, photoelectric device can
To generate current signal in the laser signal for receiving laser radar, it is based on current signal, photoelectric device is applied voltage, into
And can shine, therefore, in the target image that camera is shot, luminous point is test point, in this way, can identify
The position of test point in the target image, so as to which second coordinate value of the test point in camera coordinates system is calculated.?
In camera coordinates system, the optical center position of camera can be used as co-ordinate zero point, refering to what is shown in Fig. 2, test point P is in camera coordinates system
The second coordinate value P2 in O2x2y2z2 is (xn, yn, zn).
For target image, the bright spot in target image can be got by image recognition technology, such as can be identified
The higher point of grey scale pixel value is used as test point in target image.
, can be under the stronger scene of illumination when shooting to obtain target image by camera, it can also be weaker in illumination
Scene under, can be achieved the embodiment of the present application scheme.When illumination is weaker, target image only has and has light at test point, holds
The position of test point in the target image out easy to identify.
S104 determines radar fix system and camera coordinates system according to the first coordinate value and the second coordinate value of test point
Coordinate conversion parameter.
First coordinate value of test point is coordinate value of the test point in radar fix system, and the second coordinate value of test point is
Coordinate value of the test point in camera coordinates system, and the physical location of test point be it is identical, then can be according to the first coordinate value
With the second coordinate value, the coordinate conversion parameter of radar fix system and camera coordinates system is determined.For example, the first coordinate value of P point is
P1 (xm, ym, zm), the second coordinate value are P2 (xn, yn, zn), and obtained coordinate conversion parameter can turn P1 (xm, ym, zm)
It is changed to P2 (xn, yn, zn).
It, can be according to the first coordinate value of each test point and the second coordinate of each test point when test point is multiple
The corresponding relationship of value determines the coordinate conversion parameter of radar fix system and camera coordinates system.
Specifically, can determine position of each test point in radar fix system according to the first coordinate value of each test point
Relationship is set, positional relationship of each test point in camera coordinates system is determined according to the second coordinate value of each test point, according to
Positional relationship and test point positional relationship in camera coordinates system of the test point determined in radar fix system determines
The corresponding relationship of each test point.Such as determine that each test point draws a straight line in radar fix system, camera coordinates system
In each test point draw a straight line, then first test point on two straight lines in correspondence with each other, be the same test point,
Similarly, second test point on two straight lines is the same test point also in correspondence with each other, to establish the of each test point
Corresponding relationship between one coordinate value and the second coordinate value of each test point.
Corresponding relationship between the second coordinate value of the first coordinate value and each test point that determine each test point it
Afterwards, the coordinate conversion parameter of radar fix system and camera coordinates system can be determined therefrom that.
The coordinate conversion parameter of radar fix system and camera coordinates system is can to map the coordinate value in radar fix system
The parameter of coordinate value into camera coordinates system.Specifically, coordinate conversion parameter may include sitting in only one test point
Translation matrix is marked, at this point, radar fix system is parallel with camera coordinates system, carrying out translation transformation to the first coordinate value can be obtained the
Two coordinate values.When test point is multiple, coordinate conversion parameter may include coordinate translation matrix and coordinate spin matrix.According to
Coordinate translation matrix and coordinate spin matrix can will indicate that first coordinate value of the test point in radar fix system is converted to this
Second coordinate value of the test point in camera coordinates system, to realize that coordinate is converted.
After determining the coordinate conversion parameter of radar fix system and camera coordinates system, that is, laser radar and camera is determined
Relative position, can determine the three-dimensional coordinate of target object by laser radar, and the available target object of camera
Colouring information, by coordinate conversion parameter, the data that can be obtained to the two summarize, and obtain more comprehensive target object
Information.
The embodiment of the present application provides a kind of scaling method, according to the test result of laser radar, available test point
The first coordinate value in radar fix system, wherein can be set photoelectric device at test point, photoelectric device receive it is sharp
It can produce current signal when the laser signal of optical radar, be that photoelectric device applies voltage based on current signal, so that phototube
Part shines, and using the luminous point in the target image that camera is shot as test point, determines test point in camera coordinates system
In the second coordinate value, in this way, according to first coordinate value of the test point in radar fix system and test point in camera coordinates system
In the second coordinate value, the coordinate conversion parameter of radar fix system and camera coordinates system can be determined, to realize laser radar
With the calibration of camera.Therefore, in the embodiment of the present application, camera can be realized to test by making test point position shine
The identification of point, luminous test point and the test point for receiving the laser signal of laser radar are the same points, can be calculated in this way
The coordinate conversion parameter of radar fix system and camera coordinates system is obtained, manual identified test point is not necessarily to, improves the efficiency of calibration
And accuracy rate.
Based on one of the above scaling method, the embodiment of the present application also provides a kind of caliberating devices, refering to what is shown in Fig. 3, being
A kind of structural block diagram of caliberating device provided by the embodiments of the present application may include:
First coordinate value acquiring unit 110 obtains test point in radar fix for the test result according to laser radar
The first coordinate value in system；Photoelectric device is provided at the test point, the photoelectric device is for receiving the laser
Current signal is generated when the laser signal of radar；
Voltage applying unit 120, for being that the photoelectric device applies voltage based on the current signal, so that the light
Electrical part shines；
Second coordinate value acquiring unit 130, the position of the luminous point in target image for being shot according to camera
It sets, determines second coordinate value of the test point in camera coordinates system；
Coordinate conversion parameter determination unit 140, for according to the first coordinate value of the test point and the test point
Second coordinate value determines the coordinate conversion parameter of the radar fix system and the camera coordinates system.
Optionally, the test point is multiple, then the coordinate conversion parameter determination unit, comprising:
Coordinate conversion parameter determines subelement, according to the first coordinate value of each test point and each test point
The second coordinate value corresponding relationship, determine the coordinate conversion parameter of the radar fix system and the camera coordinates system.
Optionally, the coordinate conversion parameter determines subelement, comprising:
First position Relation acquisition unit, for determining each survey according to the first coordinate value of each test point
Positional relationship of the pilot in radar fix system；
Second position Relation acquisition unit, for determining each survey according to the second coordinate value of each test point
Positional relationship of the pilot in camera coordinates system；
Corresponding relationship determination unit, for the positional relationship according to each test point in radar fix system, and
Positional relationship of each test point in camera coordinates system, determine each test point the first coordinate value and each test point
The second coordinate value corresponding relationship；
Parameter determination unit, for according to the second of the first coordinate value of each test point and each test point
The corresponding relationship of coordinate value determines the coordinate conversion parameter of the radar fix system and the camera coordinates system.
Optionally, the voltage applying unit, comprising:
Information determination unit determines position and/or the serial number of the photoelectric device for being based on the current signal；
Voltage apply subelement, for according to the photoelectric device position and/or serial number, for the photoelectric device apply
Voltage.
Optionally, the coordinate conversion parameter includes: coordinate translation matrix, or, coordinate translation matrix and coordinate spin moment
Battle array.
Optionally, the photoelectric device is the combination of photosensitive element and light-emitting component.
The embodiment of the present application provides a kind of caliberating device, according to the test result of laser radar, available test point
The first coordinate value in radar fix system, wherein can be set photoelectric device at test point, photoelectric device receive it is sharp
It can produce current signal when the laser signal of optical radar, voltage can be applied for photoelectric device based on current signal, so that light
Electrical part shines, and using the luminous point in the target image that camera is shot as test point, determines that test point is sat in camera
The second coordinate value in mark system, in this way, being sat according to first coordinate value of the test point in radar fix system and test point in camera
The second coordinate value in mark system, can determine the coordinate conversion parameter of radar fix system and camera coordinates system, to realize laser
The calibration of radar and camera.Therefore, in the embodiment of the present application, camera pair can be realized by making test point position shine
The identification of test point, luminous test point and the test point of laser signal for receiving laser radar are the same points, in this way can be with
The coordinate conversion parameter of radar fix system and camera coordinates system is calculated, is not necessarily to manual identified test point, improves calibration
Efficiency and accuracy rate.
" first " in the titles such as " first ... " mentioned in the embodiment of the present application, " first ... " is used only to do name
Word mark, does not represent first sequentially.The rule is equally applicable to " second " etc..
As seen through the above description of the embodiments, those skilled in the art can be understood that above-mentioned implementation
All or part of the steps in example method can add the mode of general hardware platform to realize by software.Based on this understanding,
The technical solution of the application can be embodied in the form of software products, which can store is situated between in storage
In matter, such as read-only memory (English: read-only memory, ROM)/RAM, magnetic disk, CD etc., including some instructions to
So that a computer equipment (can be the network communication equipments such as personal computer, server, or router) executes
Method described in certain parts of each embodiment of the application or embodiment.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for method reality
For applying example and apparatus embodiments, since it is substantially similar to system embodiment, so describe fairly simple, related place ginseng
See the part explanation of system embodiment.Equipment and system embodiment described above is only schematical, wherein making
It may or may not be physically separated for the module of separate part description, the component shown as module can be
Or it may not be physical module, it can it is in one place, or may be distributed over multiple network units.It can be with
Some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment according to the actual needs.The common skill in this field
Art personnel can understand and implement without creative efforts.
The above is only the preferred embodiment of the application, is not intended to limit the protection scope of the application.It should refer to
Out, for those skilled in the art, it under the premise of not departing from the application, can also make several improvements
And retouching, these improvements and modifications also should be regarded as the protection scope of the application.
Claims (10)
1. a kind of scaling method, which is characterized in that the described method includes:
According to the test result of laser radar, first coordinate value of the test point in radar fix system is obtained；At the test point
It is provided with photoelectric device, the photoelectric device is for generating current signal when receiving the laser signal of the laser radar；
It is that the photoelectric device applies voltage based on the current signal, so that the photoelectric device shines；
The position of the luminous point in target image shot according to camera determines the test point in camera coordinates system
The second coordinate value；
According to the second coordinate value of the first coordinate value of the test point and the test point, the radar fix system and institute are determined
State the coordinate conversion parameter of camera coordinates system.
2. the method according to claim 1, wherein the test point be it is multiple, then it is described according to the test
First coordinate value of point and the second coordinate value of the test point, determine the seat of the radar fix system and the camera coordinates system
Mark transformation parameter, comprising:
According to the corresponding relationship of the first coordinate value of each test point and the second coordinate value of each test point, determine
The coordinate conversion parameter of the radar fix system and the camera coordinates system.
3. according to the method described in claim 2, it is characterized in that, first coordinate value according to each test point and
The corresponding relationship of second coordinate value of each test point determines the coordinate of the radar fix system and the camera coordinates system
Transformation parameter, comprising:
Positional relationship of each test point in radar fix system is determined according to the first coordinate value of each test point；
Positional relationship of each test point in camera coordinates system is determined according to the second coordinate value of each test point；
According to positional relationship of each test point in radar fix system and each test point in camera coordinates system
In positional relationship, determine the corresponding relationship of the first coordinate value of each test point and the second coordinate value of each test point；
According to the corresponding relationship of the first coordinate value of each test point and the second coordinate value of each test point, determine
The coordinate conversion parameter of the radar fix system and the camera coordinates system.
4. the method according to claim 1, wherein described be based on the current signal, for the photoelectric device
Apply voltage, comprising:
Based on the current signal, position and/or the serial number of the photoelectric device are determined；
According to the position of the photoelectric device and/or serial number, apply voltage for the photoelectric device.
5. method according to any of claims 1-4, which is characterized in that the coordinate conversion parameter includes: coordinate
Translation matrix, or, coordinate translation matrix and coordinate spin matrix.
6. method according to any of claims 1-4, which is characterized in that the photoelectric device is photosensitive element and hair
The combination of optical element.
7. a kind of caliberating device, which is characterized in that described device includes:
First coordinate value acquiring unit obtains test point in radar fix system for the test result according to laser radar
First coordinate value；Photoelectric device is provided at the test point, the photoelectric device is for receiving the laser radar
Current signal is generated when laser signal；
Voltage applying unit, for being that the photoelectric device applies voltage based on the current signal, so that the photoelectric device
It shines；
Second coordinate value acquiring unit, the position of the luminous point in target image for being shot according to camera determine
Second coordinate value of the test point in camera coordinates system；
Coordinate conversion parameter determination unit, for according to the first coordinate value of the test point and the second coordinate of the test point
Value, determines the coordinate conversion parameter of the radar fix system and the camera coordinates system.
8. device according to claim 7, which is characterized in that the test point is multiple, the then coordinate conversion parameter
Determination unit, comprising:
Coordinate conversion parameter determines subelement, according to the of the first coordinate value of each test point and each test point
The corresponding relationship of two coordinate values determines the coordinate conversion parameter of the radar fix system and the camera coordinates system.
9. device according to claim 8, which is characterized in that the coordinate conversion parameter determines subelement, comprising:
First position Relation acquisition unit, for determining each test point according to the first coordinate value of each test point
Positional relationship in radar fix system；
Second position Relation acquisition unit, for determining each test point according to the second coordinate value of each test point
Positional relationship in camera coordinates system；
Corresponding relationship determination unit, for according to positional relationship of each test point in radar fix system and each
Positional relationship of the test point in camera coordinates system, determine each test point the first coordinate value and each test point
The corresponding relationship of two coordinate values；
Parameter determination unit, for according to the first coordinate value of each test point and the second coordinate of each test point
The corresponding relationship of value determines the coordinate conversion parameter of the radar fix system and the camera coordinates system.
10. device according to claim 7, which is characterized in that the voltage applying unit, comprising:
Information determination unit determines position and/or the serial number of the photoelectric device for being based on the current signal；
Voltage apply subelement, for according to the photoelectric device position and/or serial number, for the photoelectric device apply electricity
Pressure.
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