CN109901141B - Calibration method and device - Google Patents
Calibration method and device Download PDFInfo
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- CN109901141B CN109901141B CN201910151687.1A CN201910151687A CN109901141B CN 109901141 B CN109901141 B CN 109901141B CN 201910151687 A CN201910151687 A CN 201910151687A CN 109901141 B CN109901141 B CN 109901141B
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Abstract
The embodiment of the application discloses a calibration method and a calibration device, according to a test result of a laser radar, a first coordinate value of a test point in a radar coordinate system can be obtained, wherein a photoelectric device can be arranged at the test point, the photoelectric device can generate a current signal when receiving a laser signal of the laser radar, and a voltage is applied to the photoelectric device based on the current signal so that the photoelectric device emits light, and thus, the position of the test point detected by the laser radar can be brighter. And determining a second coordinate value of the test point in the camera coordinate system according to the position of the luminous point in the target image obtained by shooting by the camera and the parameters of the camera. According to the first coordinate value of the test point in the radar coordinate system and the second coordinate value of the test point in the camera coordinate system, the coordinate transformation parameters of the radar coordinate system and the camera coordinate system can be determined, so that the calibration of the laser radar and the camera is realized, the test point does not need to be identified manually, and the calibration efficiency and accuracy are improved.
Description
Technical Field
The invention relates to the field of computers, in particular to a calibration method and a calibration device.
Background
Currently, a target object can be located by a laser radar, and three-dimensional coordinates of the target object relative to the laser radar are obtained, however, other information of the target object, such as color and the like, cannot be obtained by the laser radar. Also, the target object may be photographed by the camera, and a target image including information such as a color of the target object may be obtained, but an actual position of the target object may not be acquired by the camera.
Therefore, in many scenarios, in order to comprehensively acquire information of the target object, the laser radar and the camera may be used simultaneously to acquire information, specifically, the position of the target object relative to the laser radar is acquired through the laser radar, the position of the target object relative to the camera is acquired through the target image, and then the acquired information is summarized according to the relative positions of the laser radar and the camera to obtain comprehensive information of the target object.
In actual operation, the laser radar and the camera have certain relative positions, and before information of a target object is acquired, the positions of the laser radar and the camera need to be calibrated so as to summarize the information of the target object. In the prior art, a test point can be selected on a target object, the position of the test point in test information obtained by a laser radar is manually identified to determine the coordinate of the test point in a radar coordinate system, the position of the test point in a target image is manually identified to obtain the coordinate of the test point in a camera coordinate system, and the positions of the laser radar and a camera are calibrated according to the position of the same test point in the test information obtained by the radar and the position of the same test point in the target image.
However, the position of the test point in the test information obtained by the laser radar and the position of the test point in the target image are manually identified, so that certain subjectivity is achieved, errors are prone to occurring, and meanwhile, the manual identification efficiency is low, and the calibration efficiency is low.
Disclosure of Invention
In order to solve the above technical problem, embodiments of the present application provide a calibration method and apparatus, which can automatically calibrate positions of a laser radar and a camera, and improve calibration efficiency and accuracy.
The embodiment of the application provides a calibration method, which comprises the following steps:
acquiring a first coordinate value of the test point in a radar coordinate system according to the test result of the laser radar; a photoelectric device is arranged at the test point and used for generating a current signal when receiving a laser signal of the laser radar;
applying a voltage to the optoelectronic device based on the current signal to cause the optoelectronic device to emit light;
determining a second coordinate value of the test point in a camera coordinate system according to the position of a light-emitting point in a target image obtained by shooting through a camera;
and determining coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the first coordinate values of the test points and the second coordinate values of the test points.
Optionally, if there are a plurality of test points, determining coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the first coordinate values of the test points and the second coordinate values of the test points, including:
and determining coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the corresponding relation between the first coordinate value of each test point and the second coordinate value of each test point.
Optionally, the determining the coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the corresponding relationship between the first coordinate value of each test point and the second coordinate value of each test point includes:
determining the position relation of each test point in a radar coordinate system according to the first coordinate value of each test point;
determining the position relation of each test point in a camera coordinate system according to the second coordinate value of each test point;
determining the corresponding relation between the first coordinate value of each test point and the second coordinate value of each test point according to the position relation of each test point in the radar coordinate system and the position relation of each test point in the camera coordinate system;
and determining coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the corresponding relation between the first coordinate value of each test point and the second coordinate value of each test point.
Optionally, the applying a voltage to the optoelectronic device based on the current signal includes:
determining a position and/or a serial number of the optoelectronic device based on the current signal;
and applying voltage to the photoelectric device according to the position and/or the serial number of the photoelectric device.
Optionally, the coordinate transformation parameters include: a coordinate translation matrix, or a coordinate translation matrix and a coordinate rotation matrix.
Optionally, the photoelectric device is a combination of a photosensitive element and a light-emitting element.
The embodiment of the present application further provides a calibration apparatus, the apparatus includes:
the first coordinate value acquisition unit is used for acquiring a first coordinate value of the test point in a radar coordinate system according to the test result of the laser radar; a photoelectric device is arranged at the test point and used for generating a current signal when receiving a laser signal of the laser radar;
a voltage applying unit for applying a voltage to the photoelectric device based on the current signal to cause the photoelectric device to emit light;
the second coordinate value acquisition unit is used for determining a second coordinate value of the test point in a camera coordinate system according to the position of the luminous point in the target image shot by the camera;
and the coordinate transformation parameter determining unit is used for determining the coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the first coordinate values of the test points and the second coordinate values of the test points.
Optionally, if there are a plurality of test points, the coordinate transformation parameter determining unit includes:
and the coordinate transformation parameter determining subunit determines the coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the corresponding relation between the first coordinate value of each test point and the second coordinate value of each test point.
Optionally, the coordinate transformation parameter determining subunit includes:
the first position relation acquisition unit is used for determining the position relation of each test point in a radar coordinate system according to the first coordinate value of each test point;
the second position relation obtaining unit is used for determining the position relation of each test point in the camera coordinate system according to the second coordinate value of each test point;
the corresponding relation determining unit is used for determining the corresponding relation between the first coordinate value of each test point and the second coordinate value of each test point according to the position relation of each test point in the radar coordinate system and the position relation of each test point in the camera coordinate system;
and the parameter determining unit is used for determining the coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the corresponding relation between the first coordinate value of each test point and the second coordinate value of each test point.
Optionally, the voltage applying unit includes:
the information determining unit is used for determining the position and/or the serial number of the photoelectric device based on the current signal;
and the voltage applying subunit is used for applying voltage to the photoelectric device according to the position and/or the serial number of the photoelectric device.
Optionally, the coordinate transformation parameters include: a coordinate translation matrix, or a coordinate translation matrix and a coordinate rotation matrix.
Optionally, the photoelectric device is a combination of a photosensitive element and a light-emitting element.
The embodiment of the application provides a calibration method and a calibration device, according to a test result of a laser radar, a first coordinate value of a test point in a radar coordinate system can be obtained, wherein a photoelectric device can be arranged at the test point, the photoelectric device can generate a current signal when receiving a laser signal of the laser radar, voltage is applied to the photoelectric device based on the current signal so that the photoelectric device emits light, a light emitting point in a target image obtained by shooting through a camera is used as the test point, and a second coordinate value of the test point in a camera coordinate system is determined, so that according to the first coordinate value of the test point in the radar coordinate system and the second coordinate value of the test point in the camera coordinate system, coordinate transformation parameters of the radar coordinate system and the camera coordinate system can be determined, and calibration of the laser radar and the camera is achieved. Therefore, in the embodiment of the application, the test point can be identified by the camera by enabling the test point to emit light, the light-emitting test point and the test point for receiving the laser signal of the laser radar are the same point, so that the coordinate transformation parameters of the radar coordinate system and the camera coordinate system can be obtained through calculation, the test point does not need to be identified manually, and the calibration efficiency and accuracy are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a flowchart of a calibration method according to an embodiment of the present disclosure;
FIG. 2 is an exemplary diagram of a coordinate system in an embodiment of the present application;
fig. 3 is a block diagram of a calibration apparatus according to an embodiment of the present application.
Detailed Description
Currently, a target object can be located by a laser radar, and three-dimensional coordinates of the target object relative to the laser radar are obtained, however, other information of the target object, such as color and the like, cannot be obtained by the laser radar. Also, the target object may be photographed by the camera, and a target image including information such as a color of the target object may be obtained, but an actual position of the target object may not be acquired by the camera.
Therefore, in many scenarios, in order to comprehensively acquire information of the target object, the laser radar and the camera may be used simultaneously to acquire information, specifically, the position of the target object relative to the laser radar is acquired through the laser radar, the position of the target object relative to the camera is acquired through the target image, and then the acquired information is summarized according to the relative positions of the laser radar and the camera to obtain comprehensive information of the target object.
The inventor finds that in actual operation, the laser radar and the camera have certain relative positions, and before information of a target object is acquired, the positions of the laser radar and the camera need to be calibrated so as to summarize the information of the target object. In the prior art, a test point can be selected on a target object, the position of the test point in test information obtained by a laser radar is manually identified to determine the coordinate of the test point in a radar coordinate system, the position of the test point in a target image is manually identified to obtain the coordinate of the test point in a camera coordinate system, and the positions of the laser radar and a camera are calibrated according to the position of the same test point in the test information obtained by the radar and the position of the same test point in the target image.
However, the position of the test point in the test information obtained by the laser radar and the position of the test point in the target image are manually identified, so that certain subjectivity is achieved, errors are prone to occurring, and meanwhile, the manual identification efficiency is low, and the calibration efficiency is low.
Based on this, an embodiment of the present application provides a calibration method and apparatus, according to a test result of a laser radar, a first coordinate value of a test point in a radar coordinate system may be obtained, where the test point may be provided with a photoelectric device, the photoelectric device may generate a current signal when receiving a laser signal of the laser radar, a voltage may be applied to the photoelectric device based on the current signal to make the photoelectric device emit light, a light emitting point in a target image obtained by shooting with a camera is taken as the test point, and a second coordinate value of the test point in a camera coordinate system is determined, so that according to the first coordinate value of the test point in the radar coordinate system and the second coordinate value of the test point in the camera coordinate system, coordinate transformation parameters of the radar coordinate system and the camera coordinate system may be determined, thereby implementing calibration of the laser radar and the camera. Therefore, in the embodiment of the application, the test point can be identified by the camera by enabling the test point to emit light, the light-emitting test point and the test point for receiving the laser signal of the laser radar are the same point, so that the coordinate transformation parameters of the radar coordinate system and the camera coordinate system can be obtained through calculation, the test point does not need to be identified manually, and the calibration efficiency and accuracy are improved.
The following describes a specific implementation manner of the calibration method and apparatus provided by the embodiments of the present application in detail by using embodiments with reference to the accompanying drawings.
Referring to fig. 1, a flowchart of a calibration method provided in an embodiment of the present application may include the following steps.
S101, acquiring a first coordinate value of the test point in a radar coordinate system according to the test result of the laser radar.
The laser radar is a radar for emitting a laser beam to detect a target object, and the working principle of the radar is to emit the laser beam to the target object as a detection signal, and then compare a received echo signal reflected from the target object with the detection signal to obtain relevant information of the target object, such as a relative distance, a direction, a speed and the like of the target object and the laser radar, and even scan each characteristic point on the target object to obtain parameters such as a posture, a shape and the like of the target object.
In this embodiment, the test result of the lidar may include the transmission time and direction of the probe signal, and the reception time and direction of the echo signal. According to the test result of the laser radar, the distance and the direction of the test point relative to the laser radar at the middle moment between the transmitting moment and the receiving moment can be determined, and then the first coordinate value of the test point in a radar coordinate system is determined. In the radar coordinate system, the position of the lidar may be used as a coordinate zero point, as shown in fig. 2, which is an example of a coordinate in the embodiment of the present application, and the first coordinate value P1 of the test point P in the radar coordinate system O1x1y1z1 is (xm, ym, zm).
The emission time t of a probe signal, e.g. of a lidar1The transmission direction is theta and the receiving time is t2If the receiving direction is theta, the detection signal is sent to return to the echo signal, the distance traveled by the laser is 2 times of the distance s between the laser radar and the test point, and the elapsed time is the interval between the transmitting time and the receiving time. Thus, the distance s between the test point and the lidar is the speed of light c and the time interval (t)2-t1) Half of the product of (c), i.e. c (t)2-t1) And/2, the direction is theta.
The test points are points that are within the test range of the lidar and are detected by the lidar. For example, a wall can be arranged in front of the laser radar, each point on the wall is in the test range of the laser radar, the points on the wall are detected through the laser radar, and the detected points are used as test points.
The detected test point may be one, where the coordinate axes of the radar coordinate system and the camera coordinate system are parallel.
Of course, generally speaking, the radar coordinate system and the camera coordinate system are not necessarily parallel, in order to further process the test result, the detected test points may be multiple, the obtained test result may also be a test result corresponding to the multiple test points, and according to the test result of the multiple test points, the first coordinate values of the multiple test points in the radar coordinate system may be obtained. Specifically, the plurality of test points may form an array distribution, or may form a specific shape, such as a straight line, a curve, a triangle, a quadrangle, and the like. Each test point may have a serial number, e.g. 10 test points forming a straight line, the serial numbers being 1-10, respectively.
In order to identify the test point, a photoelectric device can be arranged at the test point, and the photoelectric device can generate a current signal when receiving a laser signal emitted by the laser radar. In particular implementations, an array of optoelectronic devices, which may include photosensitive elements such as photodiodes, phototransistors, etc., may be provided on the wall in front of the lidar. Based on different perceptions of different photosensitive elements to light, the laser radar can test under the condition of different brightness, and if the photosensitive capacity of the photosensitive elements is stronger, the test points can be tested in a darkroom.
When the photoelectric devices are arranged, which points are the test points can not be predicted in advance, so that more photoelectric devices can be arranged at a plurality of positions in advance, and the points of the photoelectric devices which receive laser signals and generate current signals are used as the test points during the working period of the laser radar. For example, the optoelectronic devices may be arranged on a wall in an array, and during the operation of the lidar, the position of the optoelectronic device in the first row may be used as the test point when the optoelectronic device in the first row receives the laser signal.
And S102, applying voltage to the photoelectric device based on the current signal so as to enable the photoelectric device at the test point to emit light.
Based on the current signal generated by the photoelectric device, the position of the photoelectric device receiving the laser signal, that is, the position of the test point, can be determined, for example, if the photoelectric device in the first row and the second column generates the current signal, the position of the photoelectric device is the test point.
Based on the current signal generated by the photoelectric device, the serial number of the photoelectric device, namely the serial number of the test point, can also be determined. For example, the 5 th photoelectric device among 1-90 photoelectric devices generates a current signal, and the position of the photoelectric device is the test point.
Based on the position and/or serial number of the photovoltaic device, a voltage can be applied to the photovoltaic device to cause the photovoltaic device to emit light. Therefore, the optoelectronic device includes a light emitting element such as a light emitting diode, a light emitting triode, or the like. The photoelectric device can be an element, has two functions of receiving a laser signal to generate a current signal and emitting light after being electrified, and can also be a combination of a photosensitive element and a light-emitting element.
And S103, determining a second coordinate value of the test point in the camera coordinate system according to the position of the luminous point in the target image shot by the camera.
As mentioned above, the test point is a point detected by the laser radar, and the test point is provided with the photoelectric device, the photoelectric device can generate a current signal when receiving a laser signal of the laser radar, and the photoelectric device is applied with a voltage and can emit light based on the current signal, so that the light emitting point is the test point in a target image obtained by shooting by the camera, and thus, the position of the test point in the target image can be identified, and a second coordinate value of the test point in the camera coordinate system can be obtained by calculation. In the camera coordinate system, the optical center position of the camera may be used as a coordinate zero point, and referring to fig. 2, a second coordinate value P2 of the test point P in the camera coordinate system O2x2y2z2 is (xn, yn, zn).
For the target image, the bright points in the target image may be obtained by an image recognition technology, for example, the points with higher pixel gray values in the target image may be identified as test points.
When the target image is shot through the camera, the scheme of the embodiment of the application can be realized in a scene with strong illumination and a scene with weak illumination. When the illumination is weak, only the test point of the target image has light, and the position of the test point in the target image is easy to identify.
And S104, determining coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the first coordinate value and the second coordinate value of the test point.
And determining coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the first coordinate value and the second coordinate value if the first coordinate value of the test point is the coordinate value of the test point in the radar coordinate system, the second coordinate value of the test point is the coordinate value of the test point in the camera coordinate system and the actual positions of the test points are the same. For example, the first coordinate value of the P point is P1(xm, ym, zm), the second coordinate value is P2(xn, yn, zn), and the obtained coordinate transformation parameter can convert P1(xm, ym, zm) into P2(xn, yn, zn).
When a plurality of test points are provided, the coordinate transformation parameters of the radar coordinate system and the camera coordinate system can be determined according to the corresponding relation between the first coordinate value of each test point and the second coordinate value of each test point.
Specifically, the position relationship of each test point in the radar coordinate system can be determined according to the first coordinate value of each test point, the position relationship of each test point in the camera coordinate system can be determined according to the second coordinate value of each test point, and the corresponding relationship of each test point can be determined according to the determined position relationship of the test point in the radar coordinate system and the position relationship of the test point in the camera coordinate system. For example, it is determined that the test points in the radar coordinate system are connected into a straight line, and the test points in the camera coordinate system are connected into a straight line, so that the first test points on the two straight lines correspond to each other and are the same test point, and similarly, the second test points on the two straight lines also correspond to each other and are the same test point, thereby establishing the corresponding relationship between the first coordinate values of the test points and the second coordinate values of the test points.
After determining the corresponding relationship between the first coordinate values of the respective test points and the second coordinate values of the respective test points, the coordinate transformation parameters of the radar coordinate system and the camera coordinate system may be determined accordingly.
The coordinate transformation parameters of the radar coordinate system and the camera coordinate system are parameters that can map coordinate values in the radar coordinate system to coordinate values in the camera coordinate system. Specifically, when there is only one test point, the coordinate transformation parameter may include a coordinate translation matrix, at this time, the radar coordinate system and the camera coordinate system are parallel, and the second coordinate value may be obtained by performing translation transformation on the first coordinate value. When the test points are plural, the coordinate transformation parameters may include a coordinate translation matrix and a coordinate rotation matrix. According to the coordinate translation matrix and the coordinate rotation matrix, a first coordinate value of the test point in the radar coordinate system can be converted into a second coordinate value of the test point in the camera coordinate system, and therefore coordinate conversion is achieved.
After coordinate transformation parameters of a radar coordinate system and a camera coordinate system are determined, relative positions of a laser radar and a camera are determined, three-dimensional coordinates of a target object can be determined through the laser radar, the camera can acquire color information of the target object, and data obtained by the laser radar and the camera can be summarized through the coordinate transformation parameters to obtain more comprehensive information of the target object.
The embodiment of the application provides a calibration method, according to a test result of a laser radar, a first coordinate value of a test point in a radar coordinate system can be obtained, wherein a photoelectric device can be arranged at the test point, the photoelectric device can generate a current signal when receiving a laser signal of the laser radar, a voltage is applied to the photoelectric device based on the current signal so as to enable the photoelectric device to emit light, a light emitting point in a target image obtained by shooting through a camera is used as the test point, and a second coordinate value of the test point in the camera coordinate system is determined, so that according to the first coordinate value of the test point in the radar coordinate system and the second coordinate value of the test point in the camera coordinate system, coordinate transformation parameters of the radar coordinate system and the camera coordinate system can be determined, and calibration of the laser radar and the camera is achieved. Therefore, in the embodiment of the application, the test point can be identified by the camera by enabling the test point to emit light, the light-emitting test point and the test point for receiving the laser signal of the laser radar are the same point, so that the coordinate transformation parameters of the radar coordinate system and the camera coordinate system can be obtained through calculation, the test point does not need to be identified manually, and the calibration efficiency and accuracy are improved.
Based on the above calibration method, an embodiment of the present application further provides a calibration apparatus, and referring to fig. 3, a structural block diagram of the calibration apparatus provided in the embodiment of the present application may include:
the first coordinate value acquisition unit 110 is configured to acquire a first coordinate value of the test point in a radar coordinate system according to a test result of the laser radar; a photoelectric device is arranged at the test point and used for generating a current signal when receiving a laser signal of the laser radar;
a voltage applying unit 120 for applying a voltage to the photoelectric device based on the current signal to cause the photoelectric device to emit light;
the second coordinate value obtaining unit 130 is configured to determine a second coordinate value of the test point in the camera coordinate system according to a position of a light emitting point in a target image obtained by shooting with the camera;
and a coordinate transformation parameter determining unit 140, configured to determine coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the first coordinate values of the test points and the second coordinate values of the test points.
Optionally, if there are a plurality of test points, the coordinate transformation parameter determining unit includes:
and the coordinate transformation parameter determining subunit determines the coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the corresponding relation between the first coordinate value of each test point and the second coordinate value of each test point.
Optionally, the coordinate transformation parameter determining subunit includes:
the first position relation acquisition unit is used for determining the position relation of each test point in a radar coordinate system according to the first coordinate value of each test point;
the second position relation obtaining unit is used for determining the position relation of each test point in the camera coordinate system according to the second coordinate value of each test point;
the corresponding relation determining unit is used for determining the corresponding relation between the first coordinate value of each test point and the second coordinate value of each test point according to the position relation of each test point in the radar coordinate system and the position relation of each test point in the camera coordinate system;
and the parameter determining unit is used for determining the coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the corresponding relation between the first coordinate value of each test point and the second coordinate value of each test point.
Optionally, the voltage applying unit includes:
the information determining unit is used for determining the position and/or the serial number of the photoelectric device based on the current signal;
and the voltage applying subunit is used for applying voltage to the photoelectric device according to the position and/or the serial number of the photoelectric device.
Optionally, the coordinate transformation parameters include: a coordinate translation matrix, or a coordinate translation matrix and a coordinate rotation matrix.
Optionally, the photoelectric device is a combination of a photosensitive element and a light-emitting element.
The embodiment of the application provides a calibration device, according to the test result of laser radar, can acquire the first coordinate value of test point in the radar coordinate system, wherein test point department can be provided with photoelectric device, photoelectric device can produce current signal when receiving laser radar's laser signal, can exert voltage for photoelectric device based on current signal, so that photoelectric device is luminous, the luminous point in the target image that obtains with the camera shooting is as the test point, confirm the second coordinate value of test point in the camera coordinate system, like this, according to the first coordinate value of test point in the radar coordinate system and the second coordinate value of test point in the camera coordinate system, can confirm the coordinate transformation parameter of radar coordinate system and camera coordinate system, thereby realize the demarcation of laser radar and camera. Therefore, in the embodiment of the application, the test point can be identified by the camera by enabling the test point to emit light, the light-emitting test point and the test point for receiving the laser signal of the laser radar are the same point, so that the coordinate transformation parameters of the radar coordinate system and the camera coordinate system can be obtained through calculation, the test point does not need to be identified manually, and the calibration efficiency and accuracy are improved.
The name "first" in the names "first … …", "first … …", etc. mentioned in the embodiments of the present application is only used for name identification, and does not represent the first in sequence. The same applies to "second" etc.
As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by software plus a general hardware platform. Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a storage medium, such as a read-only memory (ROM)/RAM, a magnetic disk, an optical disk, or the like, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network communication device such as a router) to execute the method according to the embodiments or some parts of the embodiments of the present application.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the method embodiments and apparatus embodiments are substantially similar to the system embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the system embodiments for related points. The above-described embodiments of the apparatus and system are merely illustrative, wherein modules described as separate parts may or may not be physically separate, and parts shown as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only a preferred embodiment of the present application and is not intended to limit the scope of the present application. It should be noted that, for a person skilled in the art, several improvements and modifications can be made without departing from the scope of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (10)
1. A calibration method, characterized in that the method comprises:
acquiring a first coordinate value of the test point in a radar coordinate system according to the test result of the laser radar; a photoelectric device is arranged at the test point and used for generating a current signal when receiving a laser signal of the laser radar;
applying a voltage to the optoelectronic device based on the current signal to cause the optoelectronic device to emit light;
determining a second coordinate value of the test point in a camera coordinate system according to the position of a light-emitting point in a target image obtained by shooting through a camera;
and determining coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the first coordinate values of the test points and the second coordinate values of the test points.
2. The method of claim 1, wherein if there are a plurality of test points, the determining the coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the first coordinate values of the test points and the second coordinate values of the test points comprises:
and determining coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the corresponding relation between the first coordinate value of each test point and the second coordinate value of each test point.
3. The method of claim 2, wherein determining the coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the correspondence between the first coordinate values of the respective test points and the second coordinate values of the respective test points comprises:
determining the position relation of each test point in a radar coordinate system according to the first coordinate value of each test point;
determining the position relation of each test point in a camera coordinate system according to the second coordinate value of each test point;
determining the corresponding relation between the first coordinate value of each test point and the second coordinate value of each test point according to the position relation of each test point in the radar coordinate system and the position relation of each test point in the camera coordinate system;
and determining coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the corresponding relation between the first coordinate value of each test point and the second coordinate value of each test point.
4. The method of claim 1, wherein said applying a voltage to said optoelectronic device based on said current signal comprises:
determining a position and/or a serial number of the optoelectronic device based on the current signal;
and applying voltage to the photoelectric device according to the position and/or the serial number of the photoelectric device.
5. The method according to any one of claims 1 to 4, wherein the coordinate transformation parameters include: a coordinate translation matrix, or a coordinate translation matrix and a coordinate rotation matrix.
6. The method of any of claims 1-4, wherein the optoelectronic device is a combination of a light sensing element and a light emitting element.
7. A calibration arrangement, characterized in that the arrangement comprises:
the first coordinate value acquisition unit is used for acquiring a first coordinate value of the test point in a radar coordinate system according to the test result of the laser radar; a photoelectric device is arranged at the test point and used for generating a current signal when receiving a laser signal of the laser radar;
a voltage applying unit for applying a voltage to the photoelectric device based on the current signal to cause the photoelectric device to emit light;
the second coordinate value acquisition unit is used for determining a second coordinate value of the test point in a camera coordinate system according to the position of the luminous point in the target image shot by the camera;
and the coordinate transformation parameter determining unit is used for determining the coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the first coordinate values of the test points and the second coordinate values of the test points.
8. The apparatus of claim 7, wherein if there are a plurality of test points, the coordinate transformation parameter determining unit includes:
and the coordinate transformation parameter determining subunit determines the coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the corresponding relation between the first coordinate value of each test point and the second coordinate value of each test point.
9. The apparatus of claim 8, wherein the coordinate transformation parameter determination subunit comprises:
the first position relation acquisition unit is used for determining the position relation of each test point in a radar coordinate system according to the first coordinate value of each test point;
the second position relation obtaining unit is used for determining the position relation of each test point in the camera coordinate system according to the second coordinate value of each test point;
the corresponding relation determining unit is used for determining the corresponding relation between the first coordinate value of each test point and the second coordinate value of each test point according to the position relation of each test point in the radar coordinate system and the position relation of each test point in the camera coordinate system;
and the parameter determining unit is used for determining the coordinate transformation parameters of the radar coordinate system and the camera coordinate system according to the corresponding relation between the first coordinate value of each test point and the second coordinate value of each test point.
10. The apparatus of claim 7, wherein the voltage applying unit comprises:
the information determining unit is used for determining the position and/or the serial number of the photoelectric device based on the current signal;
and the voltage applying subunit is used for applying voltage to the photoelectric device according to the position and/or the serial number of the photoelectric device.
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