CN112815979B - Sensor calibration method and device - Google Patents
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- G—PHYSICS
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
Abstract
The invention discloses a calibration method and device of a sensor, comprising the following steps: determining first calibration data acquired by a first sensor aiming at a target object; determining standard calibration data corresponding to the target object; determining a first measurement coordinate corresponding to the measurement time from the first calibration data; determining standard coordinates corresponding to the measurement time from the standard calibration data; calibrating the first sensor according to a first measurement coordinate corresponding to the measurement moment and the standard coordinate; directly determining a first mapping function of a first sensing coordinate system and a world coordinate system; the sensor calibration is carried out under the condition that the sensor position information is not required to be measured, the sensor calibration efficiency is improved, errors possibly generated by manual sensor position measurement are avoided, and the sensor calibration accuracy is improved.
Description
Technical Field
The invention relates to the technical field of the Internet of things, in particular to a calibration method and device of a sensor.
Background
In the Internet of vehicles system, road side sensors can be deployed to collect various sensing data in a road, so that a data basis is provided for subsequent road condition-based data analysis. The roadside sensor may be a camera, radar, or the like.
Calibration of the sensor may be performed by establishing a mapping relationship between a coordinate system in which the sensor is built and a world coordinate system (for example, latitude and longitude coordinates) in the real world. Thereby realizing coordinate conversion of the sensing data. That is, the sensing data acquired based on the sensor coordinate system is converted into the world coordinate system so as to facilitate the subsequent data calculation and analysis.
In the sensor calibration process, the position information of the sensor itself in the real world needs to be determined as a necessary parameter in coordinate conversion. The position information of the sensor includes longitude and latitude coordinates, installation orientation, installation height and the like of the sensor. In the prior art, the position information of the sensor is usually obtained by manual measurement, and large errors possibly exist to influence the accuracy of sensor calibration.
Disclosure of Invention
The invention provides a calibration method and device of a sensor, which at least solve the technical problems in the prior art.
In a first aspect, the present invention provides a method for calibrating a sensor, including:
determining first calibration data acquired by a first sensor aiming at a target object; determining standard calibration data corresponding to the target object;
determining a first measurement coordinate corresponding to the measurement time from the first calibration data;
determining standard coordinates corresponding to the measurement time from the standard calibration data;
and calibrating the first sensor according to the first measurement coordinate and the standard coordinate corresponding to the measurement time.
Preferably, the first measured coordinates include coordinates of the target object in a first sensing coordinate system of the first sensor; the standard coordinates comprise coordinates of the target object in a world coordinate system;
the calibrating the first sensor according to the first measurement coordinate and the standard coordinate corresponding to the measurement time comprises:
and determining a first mapping function of the first sensing coordinate system and the world coordinate system according to the first measurement coordinate and the standard coordinate corresponding to the measurement moment.
Preferably, the measurement time includes at least 2;
the determining, from the first calibration data, a first measurement coordinate corresponding to a measurement time includes:
determining a first measurement coordinate corresponding to the target object at each measurement moment;
determining standard coordinates corresponding to the measurement time from the standard calibration data, wherein the standard coordinates comprise;
and determining standard coordinates corresponding to the target object at each measuring moment.
Preferably, the determining the first mapping function of the first sensing coordinate system and the world coordinate system according to the first measurement coordinate and the standard coordinate corresponding to the measurement time includes:
determining a reference mapping function corresponding to each measuring moment according to the first measuring coordinate and the standard coordinate corresponding to each measuring moment;
and determining a first mapping function of the first sensing coordinate system and the world coordinate system according to each reference mapping function.
Preferably, the method further comprises:
determining second calibration data acquired by a second sensor aiming at a target object;
determining a second measurement coordinate corresponding to the measurement time from the second calibration data; the second measured coordinates include coordinates of the target object in a second sensing coordinate system of the second sensor;
and determining a second mapping function of the second sensing coordinate system and the world coordinate system according to the second measurement coordinate and the standard coordinate corresponding to the measurement moment.
Preferably, the method further comprises:
and determining a third mapping relation between the first sensing coordinate system and the second sensing coordinate system according to the first mapping relation and the second mapping relation.
Preferably, the determining the first calibration data collected by the first sensor for the target object; and determining standard calibration data corresponding to the target object comprises the following steps:
and in the process of moving the target object, determining the first calibration data corresponding to the target object and the standard calibration data corresponding to the target object.
In a second aspect, the present invention provides a calibration device for a sensor, comprising:
the calibration data determining module is used for determining first calibration data acquired by the first sensor aiming at the target object; and determining standard calibration data corresponding to the target object.
And the first coordinate determining module is used for determining a first measurement coordinate corresponding to the measurement moment from the first calibration data.
And the second coordinate determining module is used for determining standard coordinates corresponding to the measuring time from the standard calibration data.
And the calibration module is used for calibrating the first sensor according to the first measurement coordinate and the standard coordinate corresponding to the measurement time.
In a third aspect, the present invention provides a computer readable storage medium storing a computer program for executing the calibration method of the sensor according to the present invention.
In a fourth aspect, the present invention provides an electronic device comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is used for reading the executable instructions from the memory and executing the instructions to realize the calibration method of the sensor.
Compared with the prior art, the calibration method and the device for the sensor provided by the invention have the advantages that the first measurement coordinates and the standard coordinates of the target object at the measurement moment are determined through the first calibration data and the standard calibration data, so that the first sensor is calibrated by utilizing the first measurement coordinates and the standard coordinates, and the first mapping function of the first sensing coordinate system and the world coordinate system is determined; the sensor calibration is carried out under the condition that the sensor position information is not required to be measured, the sensor calibration efficiency is improved, errors possibly generated by manual sensor position measurement are avoided, and the sensor calibration accuracy is improved.
Drawings
FIG. 1 is a flow chart of a calibration method of a sensor according to an embodiment of the invention;
FIG. 2 is a flow chart of another calibration method of a sensor according to an embodiment of the invention;
fig. 3 is a schematic structural diagram of a calibration device of a sensor according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions according to the embodiments of the present invention will be clearly described in the following with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Calibration of the sensor may be performed by establishing a mapping relationship between a coordinate system in which the sensor is built and a world coordinate system (for example, latitude and longitude coordinates) in the real world. Thereby realizing coordinate conversion of the sensing data. That is, the sensing data acquired based on the sensor coordinate system is converted into the world coordinate system so as to facilitate the subsequent data calculation and analysis.
In the sensor calibration process, the position information of the sensor itself in the real world needs to be determined as a necessary parameter in coordinate conversion. The position information of the sensor includes longitude and latitude coordinates, installation orientation, installation height and the like of the sensor. In the prior art, the position information of the sensor is usually obtained by manual measurement, and large errors possibly exist to influence the accuracy of sensor calibration.
Therefore, the embodiment of the invention provides a calibration method of a sensor, so as to at least solve the technical problems in the prior art. As shown in fig. 1, the method in this embodiment includes the following steps:
step 101, determining first calibration data acquired by a first sensor aiming at a target object; and determining standard calibration data corresponding to the target object.
The target object may be a specific device loaded with an OBU (i.e. a vehicle-mounted Unit, collectively called On board Unit); for example, may be a test vehicle loaded with an OBU. The first sensor may be a specific type of road side sensor in the internet of vehicles system, and may specifically be a camera or a laser radar, etc. In this embodiment, the calibration of the sensor is to build a mapping relationship between a first sensing coordinate system in which the first sensor is built and a world coordinate system (e.g., longitude and latitude coordinate system) in the real world.
Therefore, in this step, the first calibration data is acquired by the first sensor, and the first calibration data is the sensing data directly acquired by the first sensor. For example, if the first sensor is a camera, the first calibration data may be an image of the target object photographed by the camera; if the first sensor is a lidar, the first calibration data may be a detected point cloud image or the like.
Meanwhile, the OBU is also required to return standard calibration data. The standard calibration data may comprise data of the position, speed, direction, time, etc. of the target object, i.e. the type of data that the OBU normally returns.
Generally, in the process of moving the target object in this embodiment, the first sensor is used to continuously detect, so as to determine the first calibration data corresponding to the target object. And simultaneously, the OBU is utilized to carry out back transmission in real time so as to determine the standard calibration data corresponding to the target object. In other words, the first calibration data and the standard calibration data may each be time series data.
Step 102, determining a first measurement coordinate corresponding to the measurement time from the first calibration data.
A first measured coordinate, which is essentially the coordinate of the target object in a first sensing coordinate system of the first sensor; which will typically be present in the first calibration data. For example, it may be the pixel coordinates of the target object in the image, or it may be radar coordinates, etc. That is, the first measurement coordinates can reflect the position of the target object measured by the first sensor.
Since the detection is performed during the movement of the target object in the present embodiment and the first calibration data is time series data, the first calibration data may include at least 2 measurement moments. At each measurement instant the target object will move to a specific position. Thus, the first measurement coordinates corresponding to the target object at each measurement time can be determined.
And 103, determining standard coordinates corresponding to the measurement time from the standard calibration data.
The standard coordinates are coordinates of the target object in the world coordinate system, that is, the true position of the target object. The standard coordinates may specifically be latitude and longitude coordinates, or GPS coordinates, etc. The standard coordinates may be determined in standard calibration data returned by the OBU. Based on the above-described measurement times, standard coordinates corresponding to the target object at the measurement times can be determined.
And 104, calibrating the first sensor according to the first measurement coordinates and the standard coordinates corresponding to the measurement time.
At each measurement instant the target object will move to a specific position. In steps 102 to 103, the first measurement coordinates and standard coordinates of the target object at the specific position are determined. Obviously, the first measurement coordinate and the standard coordinate at the same measurement time should be corresponding, i.e. both refer to the same position in the real world.
The first mapping function of the first sensing coordinate system and the world coordinate system can be determined based on the first measurement coordinates and the standard coordinates corresponding to the measurement time. The first mapping function is a coordinate transformation system between the first sensing coordinate system and the world coordinate system, and any coordinate point in the first sensing coordinate system can be mapped into the world coordinate system according to the first mapping function. I.e. calibration of the first sensor is achieved.
In this embodiment, in order to ensure the accuracy of the mapping relationship, a plurality of measurement times are selected, that is, a plurality of sets of corresponding first measurement coordinates and standard coordinates are determined. Therefore, the reference mapping function corresponding to each measuring moment can be determined according to the first measuring coordinate and the standard coordinate corresponding to each measuring moment; and determining a first mapping function of the first sensing coordinate system and the world coordinate system according to each reference mapping function. Specifically, each reference mapping function may be fitted according to a least square method to obtain a regression curve, so as to obtain a first mapping function.
According to the technical scheme, the beneficial effects of the embodiment are as follows: determining a first measurement coordinate and a standard coordinate of the target object at the measurement moment through the first calibration data and the standard calibration data, so as to calibrate the first sensor by utilizing the first measurement coordinate and the standard coordinate, and determining a first mapping function of a first sensing coordinate system and a world coordinate system; the sensor calibration is carried out under the condition that the sensor position information is not required to be measured, the sensor calibration efficiency is improved, errors possibly generated by manual sensor position measurement are avoided, and the sensor calibration accuracy is improved.
Fig. 1 shows only a basic embodiment of the method according to the invention, on the basis of which certain optimizations and developments are made, but other preferred embodiments of the method can also be obtained.
FIG. 2 shows another embodiment of the calibration method of the sensor according to the present invention. The present embodiment is further developed based on the foregoing embodiments. The method specifically comprises the following steps:
step 201, determining first calibration data collected by a first sensor aiming at a target object; and determining standard calibration data corresponding to the target object.
Step 202, determining a first measurement coordinate corresponding to a measurement time from the first calibration data; from the standard calibration data, standard coordinates corresponding to the measurement time are determined.
Step 203, determining a first mapping function of the first sensing coordinate system and the world coordinate system according to the first measurement coordinate and the standard coordinate corresponding to the measurement time.
The contents of steps 201 to 203 are the same as those of the embodiment shown in fig. 1, and will not be repeated here.
Step 204, determining second calibration data acquired by a second sensor aiming at a target object; from the second calibration data, second measurement coordinates corresponding to the measurement time are determined.
The second sensor is another road side sensor other than the first sensor. In this embodiment, it may be assumed that the first sensor is a camera, and the second sensor is a lidar. The second calibration data is the sensing data directly acquired by the second sensor. The second measured coordinates are coordinates of the target object in a second sensing coordinate system of the second sensor.
Step 205, determining a second mapping function of the second sensing coordinate system and the world coordinate system according to the second measurement coordinate and the standard coordinate corresponding to the measurement time.
The principle of determining the second mapping function is consistent with determining the first mapping function, and is not pursued here. That is, calibration of the first sensor and the second sensor will be achieved simultaneously in this embodiment. The calibration process for the first sensor and the second sensor is substantially identical to that described in the embodiment shown in fig. 1, and the description of the above embodiment is also applicable to the present embodiment, and is not repeated here.
And 206, determining a third mapping relation between the first sensing coordinate system and the second sensing coordinate system according to the first mapping relation and the second mapping relation.
After the first mapping relation and the second mapping relation are determined, a third mapping relation of the first sensing coordinate system and the second sensing coordinate system can be further determined, that is, coordinate conversion of the first sensing coordinate system and the second sensing coordinate system is directly achieved, so that related requirements can be met under other conditions.
Referring to FIG. 3, an embodiment of the calibration device of the sensor according to the present invention is shown. The apparatus of this embodiment is a physical apparatus for performing the method described in fig. 1-2. The technical solution is essentially identical to the above embodiment, and the corresponding description in the above embodiment is also applicable to this embodiment. The device in this embodiment includes:
the calibration data determining module 301 is configured to determine first calibration data collected by the first sensor for the target object; and determining standard calibration data corresponding to the target object.
The first coordinate determining module 302 is configured to determine a first measurement coordinate corresponding to the measurement time from the first calibration data.
The second coordinate determining module 303 is configured to determine, from the standard calibration data, a standard coordinate corresponding to the measurement time.
And the calibration module 304 is configured to calibrate the first sensor according to a first measurement coordinate and a standard coordinate corresponding to the measurement time.
Additionally, based on the embodiment shown in fig. 3, it is preferable that the method further includes:
the first measured coordinates include coordinates of the target object in a first sensing coordinate system of the first sensor; the standard coordinates include coordinates of the target object in the world coordinate system.
Further comprises:
a third coordinate determining module 305, configured to determine second calibration data collected by the second sensor for the target object; determining a second measurement coordinate corresponding to the measurement time from the second calibration data; the second measured coordinates include coordinates of the target object in a second sensing coordinate system of the second sensor.
The calibration module 304 includes:
a reference mapping function determining unit 341, configured to determine a reference mapping function corresponding to each measurement time according to the first measurement coordinate and the standard coordinate corresponding to each measurement time;
the first mapping function determining unit 342 is configured to determine a first mapping function of the first sensing coordinate system and the world coordinate system according to each reference mapping function.
The second mapping function determining unit 343 is configured to determine a second mapping function of the second sensing coordinate system and the world coordinate system according to the second measurement coordinate and the standard coordinate corresponding to the measurement time.
The second mapping function determining unit 344 is configured to determine a third mapping relationship between the first sensing coordinate system and the second sensing coordinate system according to the first mapping relationship and the second mapping relationship.
In addition to the methods and apparatus described above, embodiments of the invention may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform steps in a method according to various embodiments of the invention described in the "exemplary methods" section of this specification.
The computer program product may write program code for performing operations of embodiments of the present invention in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the invention may also be a computer-readable storage medium, having stored thereon computer program instructions, which when executed by a processor, cause the processor to perform steps in a method according to various embodiments of the invention described in the "exemplary method" section of the description above.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present invention have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present invention are merely examples and not intended to be limiting, and these advantages, benefits, effects, etc. are not to be considered as essential to the various embodiments of the present invention. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the invention is not necessarily limited to practice with the above described specific details.
The block diagrams of the devices, apparatuses, devices, systems referred to in the present invention are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
It is also noted that in the apparatus, devices and methods of the present invention, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present invention.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the invention to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.
Claims (7)
1. A method of calibrating a sensor, comprising:
determining first calibration data acquired by a first sensor aiming at a target object; determining standard calibration data corresponding to the target object;
determining a first measurement coordinate corresponding to a measurement time from the first calibration data, wherein the first measurement coordinate comprises a coordinate of the target object in a first sensing coordinate system of the first sensor;
determining standard coordinates corresponding to the measurement time from the standard calibration data, wherein the standard coordinates comprise coordinates of the target object in a world coordinate system;
calibrating the first sensor according to the first measurement coordinate and the standard coordinate corresponding to the measurement time, including:
determining a first mapping function of the first sensing coordinate system and the world coordinate system according to the first measurement coordinate and the standard coordinate corresponding to the measurement moment;
the measurement time includes at least 2;
the determining, from the first calibration data, a first measurement coordinate corresponding to a measurement time includes:
determining a first measurement coordinate corresponding to the target object at each measurement moment;
determining standard coordinates corresponding to the measurement time from the standard calibration data, wherein the standard coordinates comprise;
determining standard coordinates corresponding to the target object at each measuring moment;
the determining a first mapping function of the first sensing coordinate system and the world coordinate system according to the first measurement coordinate and the standard coordinate corresponding to the measurement time comprises:
determining a reference mapping function corresponding to each measuring moment according to the first measuring coordinate and the standard coordinate corresponding to each measuring moment;
and determining a first mapping function of the first sensing coordinate system and the world coordinate system according to each reference mapping function.
2. The method of claim 1, further comprising:
determining second calibration data acquired by a second sensor aiming at a target object;
determining a second measurement coordinate corresponding to the measurement time from the second calibration data; the second measured coordinates include coordinates of the target object in a second sensing coordinate system of the second sensor;
and determining a second mapping function of the second sensing coordinate system and the world coordinate system according to the second measurement coordinate and the standard coordinate corresponding to the measurement moment.
3. The method of claim 2, further comprising:
and determining a third mapping function of the first sensing coordinate system and the second sensing coordinate system according to the first mapping function and the second mapping function.
4. The method of claim 1, the determining first calibration data acquired by a first sensor for a target object; and determining standard calibration data corresponding to the target object comprises the following steps:
and in the process of moving the target object, determining the first calibration data corresponding to the target object and the standard calibration data corresponding to the target object.
5. A calibration device for a sensor, comprising:
the calibration data determining module is used for determining first calibration data acquired by the first sensor aiming at the target object; determining standard calibration data corresponding to the target object;
a first coordinate determining module, configured to determine, from the first calibration data, a first measurement coordinate corresponding to a measurement time, where the first measurement coordinate includes a coordinate of the target object in a first sensing coordinate system of the first sensor;
the second coordinate determining module is used for determining standard coordinates corresponding to the measuring moment from the standard calibration data, wherein the standard coordinates comprise coordinates of the target object in a world coordinate system;
the calibration module is configured to calibrate the first sensor according to the first measurement coordinate and the standard coordinate corresponding to the measurement time, and includes: determining a first mapping function of the first sensing coordinate system and the world coordinate system according to the first measurement coordinate and the standard coordinate corresponding to the measurement moment; the measurement time includes at least 2; the determining, from the first calibration data, a first measurement coordinate corresponding to a measurement time includes: determining a first measurement coordinate corresponding to the target object at each measurement moment; determining standard coordinates corresponding to the measurement time from the standard calibration data, wherein the standard coordinates comprise; determining standard coordinates corresponding to the target object at each measuring moment;
the calibration module comprises:
the reference mapping function determining unit is used for determining a reference mapping function corresponding to each measuring moment according to the first measuring coordinate and the standard coordinate corresponding to each measuring moment;
and the first mapping function determining unit is used for determining a first mapping function of the first sensing coordinate system and the world coordinate system according to each reference mapping function.
6. A computer-readable storage medium storing a computer program for executing the calibration method of the sensor according to any one of the preceding claims 1-4.
7. An electronic device, comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is configured to read the executable instructions from the memory and execute the instructions to implement the method of calibrating a sensor according to any of the preceding claims 1-4.
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