CN110849387A - Sensor parameter calibration method and device - Google Patents

Sensor parameter calibration method and device Download PDF

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CN110849387A
CN110849387A CN201810948218.8A CN201810948218A CN110849387A CN 110849387 A CN110849387 A CN 110849387A CN 201810948218 A CN201810948218 A CN 201810948218A CN 110849387 A CN110849387 A CN 110849387A
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radius
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余卫勇
奚伟
马晓辉
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Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
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Abstract

The invention discloses a sensor parameter calibration method and device, and relates to the technical field of computers. One embodiment of the method comprises: acquiring a rotation pose angle of the vehicle during rotation, and determining the ratio of the radius of the left wheel and the radius of the right wheel of the vehicle to the wheel track by at least combining a preset pose angle, the radius of the left wheel and the right wheel of the vehicle and the ideal wheel track; determining the running speed of the vehicle when the vehicle runs straight at a constant speed and the rotation angular speeds of the left wheel and the right wheel, and calibrating the radius and the track of the left wheel and the right wheel of the vehicle by combining the ratio of the radius of the left wheel and the radius of the right wheel to the track. According to the embodiment, the influence of system errors on the linear motion and the rotary motion of the vehicle is considered, and the radius, the track and the pose of the left wheel and the right wheel and the pose of the camera in a vehicle coordinate system are corrected in an off-line mode through experimental data of the linear motion and the rotary motion. The test shows that the corrected system error is smaller, and the experiment is simple and easy to operate.

Description

Sensor parameter calibration method and device
Technical Field
The invention relates to the technical field of computers, in particular to a sensor parameter calibration method and device.
Background
The movement of the intelligent robot is mainly realized according to navigation, and the navigation is based on positioning, namely the robot determines the accurate position of the robot in the working environment through internal and external sensors, such as a milemeter, a camera, laser and the like.
However, errors, namely system errors and non-system errors, generally exist in the data acquisition process of the sensor, and the system errors are irrelevant to the external environment. In the prior art, calibration of a sensor mainly includes two modes, namely off-line calibration and on-line calibration, wherein:
1) the off-line calibration mainly comprises UMBmark (namely a bidirectional square path), in the method, a mobile robot moves along a square track with the edge length of 4m multiplied by 4m, and the calibration is carried out by measuring the difference between an end point and a predicted end point;
2) on-line Calibration refers to calibrating odometer system errors while estimating the pose of the robot in real time by an external sensing sensor (e.g., a camera, a laser, a sonar), and is also called a simultaneous localization and Calibration (SLAC).
In the process of implementing the invention, the inventor finds that the prior art has at least the following problems:
1) in the existing off-line calibration method, the measurement of the tail end point needs to be completed manually, so that the precision is difficult to ensure;
2) in the existing online calibration method, it is assumed that only gaussian random errors exist in test errors of the external sensing sensor, while in actual situations, the external sensing sensor also has installation errors, and system errors inevitably exist during measurement, so that the calibration effect is influenced.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for calibrating sensor parameters, which can at least solve the problems of the existing error calibration method, difficulty in controlling precision, and inaccurate calibration effect.
In order to achieve the above object, according to an aspect of the embodiments of the present invention, there is provided a sensor parameter calibration method, including: acquiring a rotation pose angle when a vehicle rotates, and determining the ratio of the radius of the left wheel and the radius of the right wheel of the vehicle to the wheel track by at least combining a preset pose angle, the radius of the left wheel and the right wheel of the vehicle and the ideal wheel track; determining the running speed of the vehicle when the vehicle runs straight at a constant speed and the rotation angular speeds of the left wheel and the right wheel, and calibrating the radius and the track of the left wheel and the right wheel of the vehicle by combining the ratio of the radius of the left wheel and the radius of the right wheel to the track of the wheel.
Optionally, the obtaining a rotation pose angle of the vehicle when rotating, and determining a ratio of the radius of the left and right wheels of the vehicle to the wheel track by at least combining a predetermined pose angle, the radius of the left and right wheels of the vehicle, and the ideal wheel track, includes:
determining a pose angle slope of the vehicle according to the rotation pose angle and the preset pose angle; and at least obtaining the ideal left and right wheel radius and the ideal wheel track of the vehicle, and determining the ratio of the left and right wheel radius to the wheel track of the vehicle by combining the pose angle slope.
Optionally, the determining the running speed of the vehicle when the vehicle runs straight at a constant speed and the rotation angular speeds of the left wheel and the right wheel includes:
acquiring the distance of the vehicle in constant speed straight running in a preset time period, and determining the running speed of the vehicle; and
and acquiring the coding increment of the left and right wheels when the vehicle runs straight at a constant speed in the preset time period and the coding pulse value when the wheels rotate for one circle, and determining the rotation angular speed of the left and right wheels.
Optionally, after the calibrating the radius and the track width of the left and right wheels of the vehicle, the method further includes: adjusting the direction of the head of the vehicle to be consistent with the direction of a preset coordinate axis in an earth coordinate system, and calibrating the included angle between the preset coordinate axis in a coordinate system of shooting equipment and the corresponding coordinate axis in the coordinate system of the vehicle;
respectively acquiring the postures of the vehicle and the shooting equipment in the terrestrial coordinate system, and calibrating the posture of the shooting equipment in the vehicle coordinate system at least in combination with the rotation angular speed of the vehicle during in-situ rotation.
In order to achieve the above object, according to another aspect of the embodiments of the present invention, there is provided a sensor parameter calibration apparatus, including:
the acquisition module is used for acquiring a rotation pose angle when the vehicle rotates, and determining the ratio of the radius of the left wheel and the radius of the right wheel of the vehicle to the wheel track by at least combining a preset pose angle, the ideal left wheel and right wheel radius of the vehicle and the ideal wheel track;
and the calibration module is used for determining the running speed of the vehicle when the vehicle runs straight at a constant speed and the rotation angular speeds of the left wheel and the right wheel, and calibrating the radius of the left wheel and the radius of the right wheel of the vehicle and the wheel track by combining the ratio of the radius of the left wheel and the radius of the right wheel to the wheel track.
Optionally, the obtaining module is configured to:
determining a pose angle slope of the vehicle according to the rotation pose angle and the preset pose angle; and at least obtaining the ideal left and right wheel radius and the ideal wheel track of the vehicle, and determining the ratio of the left and right wheel radius to the wheel track of the vehicle by combining the pose angle slope.
Optionally, the calibration module is configured to:
acquiring the distance of the vehicle in constant speed straight running in a preset time period, and determining the running speed of the vehicle; and
and acquiring the coding increment of the left and right wheels when the vehicle runs straight at a constant speed in the preset time period and the coding pulse value when the wheels rotate for one circle, and determining the rotation angular speed of the left and right wheels.
Optionally, the system further includes a pose calibration module, configured to: adjusting the direction of the head of the vehicle to be consistent with the direction of a preset coordinate axis in an earth coordinate system, and calibrating the included angle between the preset coordinate axis in a coordinate system of shooting equipment and the corresponding coordinate axis in the coordinate system of the vehicle;
respectively acquiring the postures of the vehicle and the shooting equipment in the terrestrial coordinate system, and calibrating the posture of the shooting equipment in the vehicle coordinate system at least in combination with the rotation angular speed of the vehicle during in-situ rotation.
To achieve the above object, according to still another aspect of the embodiments of the present invention, an electronic device for calibrating sensor parameters is provided.
The electronic device of the embodiment of the invention comprises: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement any of the above-described sensor parameter calibration methods.
To achieve the above object, according to a further aspect of the embodiments of the present invention, there is provided a computer readable medium, on which a computer program is stored, the computer program, when executed by a processor, implementing any of the above-mentioned sensor parameter calibration methods.
According to the scheme provided by the invention, one embodiment of the invention has the following advantages or beneficial effects: by aiming at the radius r of the left and right wheels of the robotL、rRThe distance B between the left wheel and the right wheelrAnd the pose (delta P) of the camera under the robot coordinatex,ΔPy,ΔPθ) And calibration is carried out, the system error of the sensor parameters is corrected offline, the number of manual measurement parts is small, and the accuracy of the measurement result is improved.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
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The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic diagram of a main flow of a sensor parameter calibration method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of an alternative sensor parameter calibration method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the main modules of a sensor parameter calibration apparatus according to an embodiment of the present invention;
FIG. 4 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;
FIG. 5 is a schematic block diagram of a computer system suitable for use with a mobile device or server implementing an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
It should be noted that the vehicle in the present invention is an intelligent robot requiring positioning and navigation, such as a dual-wheel differential driven agv (automated Guided vehicle) equipped with a "odometer and a camera", and provides a method for off-line correcting sensor parameter system errors.
Although the method is an off-line method, the measurement part completed manually is few, and the determination of ideal values (radius, distance and angular speed) and the alignment of the direction of the adjustment headstock with the x axis of the earth rectangular coordinate system are mainly performed, so that the obtained calibration result is more accurate than that of the prior art.
In addition, the calibration in the invention is all corresponding to the parameter calibration of the robot sensor, mainly aiming at the radius r of the left wheel and the right wheel of the robotL、rRDistance B between left and right wheelsrAnd the pose (delta P) of the camera in the robot coordinate systemx,ΔPy,ΔPθ) And (6) calibrating. The correction of the sensor parameters means that the six parameter values are estimated.
The related pose refers to the position and the posture of the robot end operator in a specified coordinate system. The calibration is to detect whether the accuracy (precision) of the instrument used meets the standard by using a standard measuring instrument, and is generally used for instruments with high precision.
Referring to fig. 1, a main flowchart of a sensor parameter calibration method provided by an embodiment of the present invention is shown, including the following steps:
s101: acquiring a rotation pose angle when a vehicle rotates, and determining the ratio of the radius of the left wheel and the radius of the right wheel of the vehicle to the wheel track by at least combining a preset pose angle, the radius of the left wheel and the right wheel of the vehicle and the ideal wheel track;
s102: determining the running speed of the vehicle when the vehicle runs straight at a constant speed and the rotation angular speeds of the left wheel and the right wheel, and calibrating the radius and the track of the left wheel and the right wheel of the vehicle by combining the ratio of the radius of the left wheel and the radius of the right wheel to the track of the wheel.
Setting the ideal radius values of the left wheel and the right wheel of the vehicle to be r0The ideal distance between the left and right wheels is B0. Theoretically, when the vehicle rotates in situ, the linear speeds of the left wheel and the right wheel are as follows: v. ofL＝vR＝B0ω02; wherein, ω is0Is the predetermined angular velocity of the vehicle rotation, and mainly plays a role in theoretical analysis.
A multiplicative coefficient is introduced to virtually scale the ideal values of the left and right wheel radii. For example, the radius of the left and right wheels is currently (theoretical value) 1cm, which can be overestimated, and the reasonable value (true value) is 0.8cm, and assuming that the radius will expand to 2cm later, this 2cm/1cm is 2, which is the multiplicative coefficient.
Setting multiplicative coefficients of left and right wheel radii to be gamma1＝K1、γ2＝K2(1 represents a left wheel and 2 represents a right wheel), so that the theoretical effective radiuses of the left wheel and the right wheel are respectively K1r0、K2r0. When the multiplicative coefficient is 1, the radii of the left and right wheels of the vehicle are consistent. The angular speed and linear speed of the left wheel/right wheel rotation of the vehicle are respectively as follows:
Figure BDA0001770815690000061
Figure BDA0001770815690000062
suppose that the distance between the left and right wheels of the vehicle is BrThe resulting angular velocity of the actual rotation of the vehicle is:
Figure BDA0001770815690000063
note that, for ηK1,K2At present, no official physical definition exists, the method can be used for indicating the ratio of the actual rotating angular speed of the vehicle to the set angular speed, and can also be used for indicating the fitting slope value of the rotating pose angle and the estimated pose angle.
Principle of obtained calibration
Figure BDA0001770815690000071
Wherein, thetapRepresenting the pose angle theta of the vehicle collected by the cameramRepresenting the vehicle pose angle estimated by the odometer method,
Figure BDA0001770815690000072
like b in y ═ ax + b, used merely to aid in the representation of θp、θm、
Figure BDA0001770815690000073
The relationship of the three.
Therefore, in conjunction with the above theory, for the determination of the actual vehicle left and right wheel radii and axle spacing, the following steps can be reversed: first, using unary linear regression to determineR can be calibrated by using binary linear regressionL/Br、rR/BrFinally, the vehicle can be calibrated r when going straightL、rRAnd Br。
In the above embodiment, in step S101, the determination is performed by using first a linear regression
Figure BDA0001770815690000075
R can be calibrated by using binary linear regressionL/Br、rR/Br。
Specifically, the method comprises the following steps:
1) setting multiplicative coefficient gamma1＝K11、γ2＝K12The vehicle central point is taken as a rotation center, the vehicle is rotated for N circles in situ, and vehicle pose data (x) collected by all cameras of the vehicle are recordedp,yp,θp)；
2) Vehicle pose angle theta obtained by code wheel value estimationm；
Wherein the code wheel value is part of an odometer. The odometer positioning method is realized by reading wheel code discs and calculating by combining kinematic parameters of the mobile robot. For example, when the vehicle travels straight at a constant speed, the increment n of the left wheel/right wheel encoder in the delta t time is recordedL/RAnd the pulse number Num of the encoder when the wheel rotates for one circle is obtained to estimate the pose angle:
3) according to the calibration principle
Figure BDA0001770815690000077
For the collected rotation pose angle thetapAnd estimate the pose angle thetamPerforming one-dimensional linear fitting to obtain
Figure BDA0001770815690000078
4) Setting different multiplicative coefficients, repeating the above steps to obtain a plurality of multiplicative coefficients
Figure BDA0001770815690000079
5) Setting the ratio of the radius of the left wheel to the radius of the right wheel of the vehicle to the wheel track as g:
Figure BDA0001770815690000081
the multiplicative coefficients and the resulting fitted slope values are collated as follows:
Figure BDA0001770815690000082
bonding of
Figure BDA0001770815690000083
Using weighted linear regression equation calculation (also based on matlab implementation, least squares), the g is:
Figure BDA0001770815690000084
for the calibration procedure described above, for steps 3) and 4) can also be combined together, i.e. without calculation
Figure BDA0001770815690000085
And g is determined directly based on the rotation pose angle and the estimated pose angle.
Alternatively, steps 1) to 5) may be repeated a plurality of times, and then the estimated values of g are averaged to improve the estimation accuracy.
For step S102, based on the obtained rL/Br、rR/BrR is calibratedL、rRAnd Br。
The process needs data when the vehicle runs straight at a constant speed, at least comprises running distance and running time, and a code disc value method is also used:
1) recording the uniform speed straight-ahead motion m of the vehicle1The distance s and the running time delta t of each code, and the straight-ahead speed v of the vehicle is calculated to be s/delta t.
Recording the increment of the left wheel/right wheel encoder within delta t time as nL/RThe number of pulses of the encoder is Num when the wheel rotates 1 revolution. The resulting angular velocity ω of the left/right wheel rotation is calculated as:
Figure BDA0001770815690000091
2) from the obtained g, the left and right wheel radius relationship is analyzed:
Figure BDA0001770815690000092
for simplifying the following description, the multiplicative coefficients of the left and right wheels can be set as: gamma ray1＝ratio、γ21. Thus, the left and right wheel radii of the resulting vehicle are:
Figure BDA0001770815690000093
and
Figure BDA0001770815690000094
3) according to the obtained radius of the left wheel and the right wheel, the distance B between the left wheel and the right wheel of the vehicle can be estimatedr：
Figure BDA0001770815690000095
Note that all the values obtained above are estimated values, and physical quantities measured at ordinary times, such as length, width, and height, are not completely true values, and are only estimated values. Estimating the radius r of the left and right wheels of the vehicleL、rRDistance B between left and right wheelsrAfter that, the correction of these parameters of the sensor is realized.
The systematic error cannot be measured accurately, and can only be estimated. And subsequently, continuously measuring and updating the acquired parameters through the sensor, and gradually converging to an error true value so as to finish error calibration.
The method provided by the embodiment is a precondition for realizing accurate estimation of the position and attitude of the robot for error correction of the vehicle. And (4) considering the influence of system errors on the linear motion and the rotary motion of the vehicle, and correcting the radius and the track of the left wheel and the right wheel through experimental data of the linear motion and the rotary motion. Experiments show that the corrected system error is smaller, and the experiment is simple and easy to operate.
Referring to fig. 2, a schematic flow chart of an optional sensor parameter calibration method according to an embodiment of the present invention is shown, including the following steps:
s201: acquiring a rotation pose angle when a vehicle rotates, and determining the ratio of the radius of the left wheel and the radius of the right wheel of the vehicle to the wheel track by at least combining a preset pose angle, the radius of the left wheel and the right wheel of the vehicle and the ideal wheel track;
s202: determining the running speed of the vehicle when the vehicle runs straight at a constant speed and the rotation angular speeds of the left wheel and the right wheel, and calibrating the radius and the track of the left wheel and the right wheel of the vehicle by combining the ratio of the radius of the left wheel and the radius of the right wheel to the track of the wheel;
s203: adjusting the direction of the head of the vehicle to be consistent with the direction of a preset coordinate axis in an earth coordinate system, and calibrating the included angle between the preset coordinate axis in a coordinate system of shooting equipment and the corresponding coordinate axis in the coordinate system of the vehicle;
s204: the postures of the vehicle and the shooting device in the terrestrial coordinate system are respectively acquired, and the posture of the shooting device in the vehicle coordinate system is calibrated at least in combination with the rotation angular speed of the vehicle during rotation.
Except for calibrating the radius r of left and right wheels of the vehicleL、rRDistance B between left and right wheelsrBesides, the invention also provides the pose (delta P) of the camera in the vehicle coordinate systemx,ΔPy,ΔPθ) Calibration is performed.
In the above embodiment, for steps S201 and S202, reference may be made to the descriptions of steps S101 and S102 shown in fig. 1, which are not described herein again.
In the above embodiment, for step S203, first, the attitude angle Δ P of the camera mounted on the vehicle is measuredθAnd (6) calibrating.
After system errors of the radius and the track of the left wheel and the right wheel of the vehicle are calibrated, the pose of the camera is calibrated, and the calibration precision can be improved to a certain extent.
The adopted calibration principle is thatGθp＝Gθcar+ΔPθ. Wherein the content of the first and second substances,Gθpis a camera coordinate system x-axis positive direction and a terrestrial coordinate system xThe included angle of the axial positive direction is,Gθcaris the included angle, delta P, between the positive direction of the x axis of the vehicle coordinate system and the positive direction of the x axis of the terrestrial coordinate systemθIs the included angle between the positive direction of the x axis of the camera coordinate system and the positive direction of the x axis of the vehicle coordinate system. It is clear that for each vehicle,Gθcaris a random error, Δ PθIs a fixed error.
The earth coordinate system is a right-handed coordinate system, the origin o coincides with the earth centroid, the z axis points to the earth north pole, the x axis points to the intersection point of the earth equatorial plane and the Greenwich mean circle, and the y axis and xoz form a right-handed coordinate system in the equatorial plane.
In the specific implementation process, the direction of the vehicle head of the vehicle needs to be adjusted, so that the direction of the vehicle head is as consistent as possible with the direction of the x axis of the terrestrial coordinate system, and thereforeGθcarIs 0, and records the angle between the camera and the x coordinate axis of the vehicle as thetap。
Because the directions of the two cameras are not completely consistent, the two cameras can be repeated for multiple times to improve the subsequent calculation precision, and the shooting angle theta of the ith camera is recordedp(i) In that respect According to the calibration principleGθp＝Gθcar+ΔPθObtained Δ PθComprises the following steps:
wherein N is2Is the number of repetitions.
It should be noted that other axial directions besides the x-axis are also contemplated, for example, a positive counterclockwise rotation of 90 degrees of the x-axis is a positive y-axis direction. Just as we find north in reality, we know south-east-west-north.
For step S204, the pose coordinate Δ P of the camera is then setx、ΔPyAnd (6) calibrating.
1) The vehicle is rotated in situ by taking the origin of the coordinate system of the vehicle as a rotation center to obtain the rotation angular velocity omega of the vehicle'0. Note here that ω'0Again representing angular rotation velocity, but the value may be the same as ω in fig. 10Different.
2) The attitude (x, y, theta) of the vehicle in the terrestrial coordinate system is recorded, and the attitude (P) of the camera in the terrestrial coordinate system is recordedx,Py,Pθ). From the coordinate transformation, at any time, the following equation holds:
Figure BDA0001770815690000112
the kinematic equation of the vehicle can be as follows:
Figure BDA0001770815690000121
Figure BDA0001770815690000122
Figure BDA0001770815690000123
angle derivation is performed on the identity after coordinate transformation, and the following results are obtained:
Figure BDA0001770815690000124
binding critical conditions:
Figure BDA0001770815690000125
integral processing is carried out on the formula after derivation to obtain the camera attitude Px,PyAfter the expression (c), the reading (x) of the camera during rotation is usedP,yP,θP) Combining with binary linear regression to fit out the delta Px,ΔPy：
1) At angular velocity ω 'of the vehicle'0Rotating in situ, and collecting (M +1) group data delta by a camera:
(Px,1,Py,1,Pθ,1),(Px,2,Py,2,Pθ,2),...(Px,M+1,Py,M+1,Pθ,M+1)
2) 2M groups of data are obtained through calculation, and the method specifically comprises the following steps:
δk＝(Px,k+1-Px,k,Py,k+1-Py,k)T,k＝1,2...M
here, the
Figure BDA0001770815690000127
Is the increment of the left wheel/right wheel encoder in the kth delta t time respectively.
3) Note the book
Figure BDA0001770815690000128
ThenIs (H)TH)-1HTδ。
The method provided by the embodiment is mainly used for calibrating the pose of the camera of the robot in the robot coordinate system, has the characteristics of simplicity and high efficiency, can effectively converge error estimation, and improves the test precision of subsequent positioning.
Referring to fig. 3, a schematic diagram of main modules of a sensor parameter calibration apparatus 300 according to an embodiment of the present invention is shown, including:
an obtaining module 301, configured to obtain a rotation pose angle when a vehicle rotates, and determine a ratio between radii of left and right wheels of the vehicle and a wheel track by at least combining a predetermined pose angle, and an ideal left and right wheel radius and an ideal wheel track of the vehicle;
a calibration module 302, configured to determine a driving speed of the vehicle when the vehicle travels straight at a constant speed and rotation angular speeds of the left and right wheels, and calibrate the radius of the left and right wheels and the wheel track of the vehicle in combination with a ratio of the radius of the left and right wheels to the wheel track.
In the implementation apparatus of the present invention, the obtaining module 301 is configured to:
determining a pose angle slope of the vehicle according to the rotation pose angle and the preset pose angle;
and at least obtaining the ideal left and right wheel radius and the ideal wheel track of the vehicle, and determining the ratio of the left and right wheel radius to the wheel track of the vehicle by combining the pose angle slope.
In the implementation apparatus of the present invention, the calibration module 302 is configured to:
acquiring the distance of the vehicle in constant speed straight running in a preset time period, and determining the running speed of the vehicle; and
and acquiring the coding increment of the left and right wheels when the vehicle runs straight at a constant speed in the preset time period and the coding pulse value when the wheels rotate for one circle, and determining the rotation angular speed of the left and right wheels.
The device further includes a pose calibration module 303 (not shown in the figure) for:
adjusting the direction of the head of the vehicle to be consistent with the direction of a preset coordinate axis in an earth coordinate system, and calibrating the included angle between the preset coordinate axis in a coordinate system of shooting equipment and the corresponding coordinate axis in the coordinate system of the vehicle;
and respectively acquiring the postures of the vehicle and the shooting equipment in the earth coordinate system, and calibrating the poses of the residual coordinate axes in the shooting equipment coordinate system in the vehicle coordinate system at least by combining the rotation angular speed of the vehicle during in-situ rotation.
In addition, the specific implementation of the sensor parameter calibration apparatus in the embodiment of the present invention has been described in detail in the above sensor parameter calibration method, and therefore, the repeated description is not repeated here.
FIG. 4 illustrates an exemplary system architecture 400 to which the sensor parameter calibration method or sensor parameter calibration apparatus of embodiments of the present invention may be applied.
As shown in fig. 4, the system architecture 400 may include terminal devices 401, 402, 403, a network 404, and a server 405 (by way of example only). The network 404 serves as a medium for providing communication links between the terminal devices 401, 402, 403 and the server 405. Network 404 may include various types of connections, such as wire, wireless communication links, or fiber optic cables, to name a few.
A user may use terminal devices 401, 402, 403 to interact with a server 405 over a network 404 to receive or send messages or the like. The terminal devices 401, 402, 403 may have installed thereon various communication client applications, such as shopping-like applications, web browser applications, search-like applications, instant messaging tools, mailbox clients, social platform software, etc. (by way of example only).
The terminal devices 401, 402, 403 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 405 may be a server providing various services, such as a background management server (for example only) providing support for shopping websites browsed by users using the terminal devices 401, 402, 403. The backend management server may analyze and perform other processing on the received data such as the product information query request, and feed back a processing result (for example, target push information, product information — just an example) to the terminal device.
It should be noted that the sensor parameter calibration method provided by the embodiment of the present invention is generally executed by the server 405, and accordingly, the sensor parameter calibration apparatus is generally disposed in the server 405.
It should be understood that the number of terminal devices, networks, and servers in fig. 4 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Referring now to FIG. 5, shown is a block diagram of a computer system 500 suitable for use with a terminal device implementing an embodiment of the present invention. The terminal device shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU)501 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the system 500 are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output portion 507 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The driver 510 is also connected to the I/O interface 505 as necessary. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as necessary, so that a computer program read out therefrom is mounted into the storage section 508 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 509, and/or installed from the removable medium 511. The computer program performs the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 501.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor comprises an acquisition module and a calibration module. Where the names of these modules do not in some cases constitute a limitation of the module itself, for example, the calibration module may also be described as a "left and right wheel radius and track calibration module for a vehicle".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise:
acquiring a rotation pose angle when a vehicle rotates, and determining the ratio of the radius of the left wheel and the radius of the right wheel of the vehicle to the wheel track by at least combining a preset pose angle, the radius of the left wheel and the right wheel of the vehicle and the ideal wheel track;
determining the running speed of the vehicle when the vehicle runs straight at a constant speed and the rotation angular speeds of the left wheel and the right wheel, and calibrating the radius and the track of the left wheel and the right wheel of the vehicle by combining the ratio of the radius of the left wheel and the radius of the right wheel to the track of the wheel.
According to the technical scheme of the embodiment of the invention, the radius r of the left wheel and the right wheel of the robot is measuredL、rRThe distance B between the left wheel and the right wheelrAnd the pose (delta P) of the camera under the robot coordinatex,ΔPy,ΔPθ) And calibration is carried out, the system error of the sensor parameters is corrected offline, the number of manual measurement parts is small, and the accuracy of the measurement result is improved.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A sensor parameter calibration method is characterized by comprising the following steps:
acquiring a rotation pose angle when a vehicle rotates, and determining the ratio of the radius of the left wheel and the radius of the right wheel of the vehicle to the wheel track by at least combining a preset pose angle, the radius of the left wheel and the right wheel of the vehicle and the ideal wheel track;
determining the running speed of the vehicle when the vehicle runs straight at a constant speed and the rotation angular speeds of the left wheel and the right wheel, and calibrating the radius and the track of the left wheel and the right wheel of the vehicle by combining the ratio of the radius of the left wheel and the radius of the right wheel to the track of the wheel.
2. The method of claim 1, wherein the obtaining of the rotation pose angle of the vehicle when rotating, and the determining of the ratio of the vehicle left and right wheel radius to the wheel track, in combination with at least the predetermined pose angle and the ideal left and right wheel radius and the ideal wheel track of the vehicle, comprises:
determining a pose angle slope of the vehicle according to the rotation pose angle and the preset pose angle;
and at least obtaining the ideal left and right wheel radius and the ideal wheel track of the vehicle, and determining the ratio of the left and right wheel radius to the wheel track of the vehicle by combining the pose angle slope.
3. The method according to claim 1, wherein the determining the running speed at which the vehicle travels straight at a constant speed and the rotation angular speeds of the left and right wheels comprises:
acquiring the distance of the vehicle in constant speed straight running in a preset time period, and determining the running speed of the vehicle; and
and acquiring the coding increment of the left and right wheels when the vehicle runs straight at a constant speed in the preset time period and the coding pulse value when the wheels rotate for one circle, and determining the rotation angular speed of the left and right wheels.
4. The method of claim 1, further comprising, after said calibrating left and right wheel radii and track width of said vehicle:
adjusting the direction of the head of the vehicle to be consistent with the direction of a preset coordinate axis in an earth coordinate system, and calibrating the included angle between the preset coordinate axis in a coordinate system of shooting equipment and the corresponding coordinate axis in the coordinate system of the vehicle;
the postures of the vehicle and the shooting device in the terrestrial coordinate system are respectively acquired, and the posture of the shooting device in the vehicle coordinate system is calibrated at least in combination with the rotation angular speed of the vehicle during rotation.
5. A sensor parameter calibration device is characterized by comprising:
the acquisition module is used for acquiring a rotation pose angle when the vehicle rotates, and determining the ratio of the radius of the left wheel and the radius of the right wheel of the vehicle to the wheel track by at least combining a preset pose angle, the ideal left wheel and right wheel radius of the vehicle and the ideal wheel track;
and the calibration module is used for determining the running speed of the vehicle when the vehicle runs straight at a constant speed and the rotation angular speeds of the left wheel and the right wheel, and calibrating the radius of the left wheel and the radius of the right wheel of the vehicle and the wheel track by combining the ratio of the radius of the left wheel and the radius of the right wheel to the wheel track.
6. The apparatus of claim 5, wherein the obtaining module is configured to:
determining a pose angle slope of the vehicle according to the rotation pose angle and the preset pose angle;
and at least obtaining the ideal left and right wheel radius and the ideal wheel track of the vehicle, and determining the ratio of the left and right wheel radius to the wheel track of the vehicle by combining the pose angle slope.
7. The apparatus of claim 5, wherein the calibration module is configured to:
acquiring the distance of the vehicle in constant speed straight running in a preset time period, and determining the running speed of the vehicle; and
and acquiring the coding increment of the left and right wheels when the vehicle runs straight at a constant speed in the preset time period and the coding pulse value when the wheels rotate for one circle, and determining the rotation angular speed of the left and right wheels.
8. The apparatus of claim 5, further comprising a pose calibration module to:
adjusting the direction of the head of the vehicle to be consistent with the direction of a preset coordinate axis in an earth coordinate system, and calibrating the included angle between the preset coordinate axis in a coordinate system of shooting equipment and the corresponding coordinate axis in the coordinate system of the vehicle;
respectively acquiring the postures of the vehicle and the shooting equipment in the terrestrial coordinate system, and calibrating the posture of the shooting equipment in the vehicle coordinate system at least in combination with the rotation angular speed of the vehicle during in-situ rotation.
9. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-4.
10. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-4.
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