CN113446933A - External parameter calibration method, device and system for multiple three-dimensional sensors - Google Patents
External parameter calibration method, device and system for multiple three-dimensional sensors Download PDFInfo
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Abstract
The application relates to an external reference calibration method, device and system of a multi-three-dimensional sensor, wherein the method comprises the following steps: acquiring a first conversion relation between a sensor coordinate system where at least two three-dimensional sensors are located and a calibration object coordinate system where calibration objects corresponding to the sensor coordinate systems are located; the plurality of three-dimensional sensors are rigidly connected, and the plurality of calibration objects are rigidly connected; the calibration object is provided with curved surface characteristics; calculating to obtain a second conversion relation and determining the second conversion relation as an external reference calibration result according to constraint conditions among the first conversion relation, the second conversion relation and the third conversion relation; the second conversion relation is the conversion relation between different sensor coordinate systems, and the third conversion relation is the conversion relation between calibration object coordinate systems. By the method and the device, the problems of complicated calibration operation process and low calibration efficiency among the multiple three-dimensional sensors are solved, and the calibration method of the multiple three-dimensional sensors without a common view is realized.
Description
Technical Field
The application relates to the technical field of external reference calibration, in particular to an external reference calibration method, device and system for a multi-three-dimensional sensor.
Background
At present, robots are widely applied to industrial production, vision is used as an important mode for the robots to acquire external environment information, and an intelligent perception technology based on the vision is more and more widely applied to a robot operation system, so that the automation degree of a production line is further improved. In industrial production, there are two main types of vision sensors widely used, one of them is a three-dimensional sensor used for acquiring three-dimensional point cloud information of an environment, and such sensors are mainly used in the fields of three-dimensional reconstruction, pose estimation, intelligent sorting and identification, etc.
The three-dimensional sensor parameters comprise external parameters; the external parameter is a three-dimensional rigid body transformation, describes the transformation between a world coordinate system and a three-dimensional sensor coordinate system, and consists of a three-dimensional rotation transformation (matrix) and a three-dimensional translation vector. In the related art, an external reference calibration method among multiple three-dimensional sensors is generally based on calibration of a calibration object for calibration; namely, some geometric information such as certain spatial features and dimensions of the calibration object is known, three-dimensional to two-dimensional mapping is formed by using the projection of the calibration object on the camera imaging plane and the spatial geometric information of the calibration object, and when enough mapping is obtained, a projection matrix can be solved by using linear transformation to obtain the transformation relation between each camera and the calibration object, so that the external parameters between the cameras are indirectly solved. However, this method is suitable for a multi-camera system with a common view, and such a calibration method becomes complicated when there is no common view between cameras, resulting in a complicated calibration operation process between multiple three-dimensional sensors and a low calibration efficiency.
At present, an effective solution is not provided aiming at the problems of complicated calibration operation process and low calibration efficiency among multiple three-dimensional sensors in the related technology.
Disclosure of Invention
The embodiment of the application provides an external reference calibration method, device and system for multiple three-dimensional sensors, and aims to at least solve the problems that in the related art, the calibration operation process among the multiple three-dimensional sensors is complicated and the calibration efficiency is low.
In a first aspect, an embodiment of the present application provides an external reference calibration method for a multi-three-dimensional sensor, where the method includes:
acquiring a first conversion relation between a sensor coordinate system where at least two three-dimensional sensors are located and a calibration object coordinate system where calibration objects corresponding to the sensor coordinate systems are located; wherein, a plurality of the three-dimensional sensors are rigidly connected with each other, and a plurality of the calibration objects are rigidly connected with each other; the calibration object is provided with a curved surface characteristic;
calculating to obtain the second conversion relation and determining the second conversion relation as the external reference calibration result according to the constraint conditions among the first conversion relation, the second conversion relation and the third conversion relation; the second conversion relationship is a conversion relationship between different sensor coordinate systems where the at least two three-dimensional sensors are located, and the third conversion relationship is a conversion relationship between calibration object coordinate systems where calibration objects corresponding to the at least two three-dimensional sensors are located.
In some of the embodiments, in the case where the number of the three-dimensional sensors is two, the three-dimensional sensor includes a first three-dimensional sensor and a second three-dimensional sensor, and the calibration object includes a first calibration object and a second calibration object; the method comprises the following steps:
acquiring a first sub-conversion relation between a first sensor coordinate system of the first three-dimensional sensor and a first calibration object coordinate system of a first calibration object, and acquiring a second sub-conversion relation between a second sensor coordinate system of the second three-dimensional sensor and a second calibration object coordinate system of a second calibration object; wherein the first translation relationship comprises the first sub-translation relationship and the second sub-translation relationship;
and calculating to obtain the external reference calibration result according to the constraint conditions among the first sub-conversion relation, the second conversion relation and the third conversion relation.
In some embodiments, the calculating the external reference calibration result according to a constraint condition among the first sub-conversion relationship, the second conversion relationship, and the third conversion relationship includes:
determining a first preset value based on the first sub-conversion relation, the second sub-conversion relation and the constraint condition, and determining a second preset value based on the first sub-conversion relation and the constraint condition;
and performing singular value decomposition processing on the first preset value to obtain a decomposition result, obtaining a third preset value comprising the second conversion relation and the third conversion relation according to the decomposition result and the second preset value, and further determining the external reference calibration result according to the third preset value.
In some of these embodiments, the first three-dimensional sensor is used to track the first calibration object and the second three-dimensional sensor is used to track the second calibration object.
In some embodiments, the obtaining a first conversion relationship between a sensor coordinate system in which the at least two three-dimensional sensors are located and a calibration object coordinate system in which the calibration objects respectively correspond to includes:
under the condition that each calibration object is respectively positioned at a plurality of placing postures, acquiring at least two frames of point cloud images obtained by tracking the corresponding calibration object by each three-dimensional sensor, and acquiring the first conversion relation based on the point cloud images; and the point cloud image is matched with the placing posture of the calibration object.
In some embodiments, the obtaining a first conversion relationship between a sensor coordinate system in which the at least two three-dimensional sensors are located and a calibration object coordinate system in which the calibration objects respectively correspond to includes:
and acquiring first point cloud data of the calibration object under the sensor coordinate system corresponding to each three-dimensional sensor, and performing point cloud matching processing on the first point cloud data and second point cloud data of the calibration object under the calibration object coordinate system to obtain the first conversion relation.
In a second aspect, an embodiment of the present application provides an external reference calibration apparatus for a multi-three-dimensional sensor, where the apparatus includes: an acquisition module and a result module;
the acquisition module is used for acquiring a first conversion relation between a sensor coordinate system where the at least two three-dimensional sensors are located and a calibration object coordinate system where the calibration objects corresponding to the sensor coordinate systems are located; wherein, a plurality of the three-dimensional sensors are rigidly connected with each other, and a plurality of the calibration objects are rigidly connected with each other; the calibration object is provided with a curved surface characteristic;
the result module is used for calculating the second conversion relation according to the constraint conditions among the first conversion relation, the second conversion relation and the third conversion relation and determining the second conversion relation as the external reference calibration result; the second conversion relationship is a conversion relationship between different sensor coordinate systems where the at least two three-dimensional sensors are located, and the third conversion relationship is a conversion relationship between calibration object coordinate systems where calibration objects corresponding to the at least two three-dimensional sensors are located.
In a third aspect, the embodiment of the present application provides an external reference calibration system for a multi-three-dimensional sensor, the system includes a control device and at least two calibration objects with curved surface features;
the at least two calibration objects with the curved surface characteristics are rigidly connected, so that the number of the calibration objects is the same as that of the calibration objects, and the three-dimensional sensors which are rigidly connected with each other can simultaneously and respectively shoot the corresponding calibration objects under the condition of no common visual field;
the control device is used for executing the external reference calibration method of the multi-three-dimensional sensor as described in the first aspect.
In a fourth aspect, an embodiment of the present application provides an electronic apparatus, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the processor implements the external reference calibration method for a multi-three-dimensional sensor according to the first aspect.
In a fifth aspect, an embodiment of the present application provides a storage medium, on which a computer program is stored, where the program, when executed by a processor, implements the external reference calibration method for a multi-three-dimensional sensor as described in the first aspect above.
Compared with the related art, the external reference calibration method, the external reference calibration device and the external reference calibration system for the multiple three-dimensional sensors provided by the embodiment of the application have the advantages that the first conversion relation between the sensor coordinate systems where the at least two three-dimensional sensors are located and the calibration object coordinate systems where the calibration objects corresponding to the sensor coordinate systems are located is obtained; the plurality of three-dimensional sensors are rigidly connected, and the plurality of calibration objects are rigidly connected; the calibration object is provided with curved surface characteristics; calculating to obtain a second conversion relation and determining the second conversion relation as an external reference calibration result according to constraint conditions among the first conversion relation, the second conversion relation and the third conversion relation; the second conversion relation is the conversion relation among different sensor coordinate systems, and the third conversion relation is the conversion relation among calibration object coordinate systems, so that the problems of complicated calibration operation process and low calibration efficiency among multiple three-dimensional sensors are solved, and the calibration method of the multiple three-dimensional sensors without a common view field is realized.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a diagram of an application scenario of an external reference calibration method according to an embodiment of the present application;
FIG. 2 is a diagram of an application scenario of another external reference calibration method according to an embodiment of the present application;
FIG. 3 is a flow chart of a method for external reference calibration of a multi-three-dimensional sensor according to an embodiment of the present application;
FIG. 4 is a flow chart of another method for external reference calibration of a multi-three-dimensional sensor according to an embodiment of the present application;
FIG. 5 is a flow chart of yet another method for external reference calibration of a multi-three-dimensional sensor according to an embodiment of the present application;
FIG. 6 is a block diagram of an external reference calibration apparatus for a multi-three-dimensional sensor according to an embodiment of the present application;
fig. 7 is a block diagram of the inside of a computer device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
In the present embodiment, an application scenario of an external reference calibration method for multiple three-dimensional sensors is provided, and fig. 1 is an application scenario of an external reference calibration method according to an embodiment of the present application, as shown in fig. 1, two three-dimensional sensors 12 rigidly connected by a connecting rod and two calibrators 14 rigidly connected by another connecting rod are placed in the application scenario 1; the two calibration objects 14 are calibration objects with curved surface characteristics, and when the two calibration objects 14 are placed in the calibration process, it is ensured that the two three-dimensional sensors 12 without a common view can simultaneously and respectively shoot the corresponding calibration objects 14, so that the processor can calculate and obtain the external reference calibration between the two three-dimensional sensors 12.
Or, external reference calibration can be performed on the three-dimensional sensors in the calibration process. Fig. 2 is a diagram of an application scenario of another external reference calibration method according to an embodiment of the present application, and as shown in fig. 2, three-dimensional sensors 12 rigidly connected by a connecting rod and three calibration objects 14 with curved surface features rigidly connected by another connecting rod are deployed in the application scenario 2; in the calibration process, the three five three-dimensional sensors 12 with the common view field can be ensured to shoot the corresponding calibration objects 14 at the same time, so that the processor can calculate the coordinate system conversion relation between every two three-dimensional sensors 12, and further determine the external reference calibration result for all the three-dimensional sensors 12. It can be understood that, in the embodiment of the present application, external reference calibration may also be performed on more than three-dimensional sensors 12, which is not described herein again. In addition, for a fixed application scene, scene recognition is completed according to external reference calibration results among multiple three-dimensional sensors, and then autonomous collision-free movement of the robot can be completed through motion planning.
The present embodiment provides an external reference calibration method for a multi-three-dimensional sensor, and fig. 3 is a flowchart of an external reference calibration method for a multi-three-dimensional sensor according to an embodiment of the present application, as shown in fig. 3, the flowchart includes the following steps:
step S310, acquiring a first conversion relation between a sensor coordinate system where at least two three-dimensional sensors are located and a calibration object coordinate system where calibration objects corresponding to the sensor coordinate systems are located; the three-dimensional sensors are rigidly connected, and the calibration objects are rigidly connected; the calibration object is a calibration object with curved surface characteristics.
The calibration object can be a calibration object with curved surface characteristics, which is manufactured in advance by a worker who performs calibration work; the calibration object can be a cylinder structure with marking points on the surface, or the calibration object can also be other curved surface objects and scenes with the marking points. The staff rigidly connects the calibration objects through devices such as connecting rods or pipelines and places the calibration objects in a calibration scene, and ensures that the three-dimensional sensors which are rigidly connected and have no common visual field can shoot the corresponding calibration objects simultaneously and respectively. The processor calculates the coordinate system conversion relation between each sensor and the corresponding calibration object, namely the first conversion relation, based on the result of each corresponding calibration object shot by each three-dimensional sensor. It should be noted that the three-dimensional sensor may include: a three-dimensional laser sensor, a three-dimensional scanning sensor, a three-dimensional vision sensor, or other three-dimensional sensor.
Step S320, calculating the second conversion relation according to the constraint conditions among the first conversion relation, the second conversion relation and the third conversion relation and determining the second conversion relation as the external reference calibration result; the second conversion relation is a conversion relation between different sensor coordinate systems where the at least two three-dimensional sensors are located, and the third conversion relation is a conversion relation between calibration object coordinate systems where calibration objects corresponding to the at least two three-dimensional sensors are located.
Specifically, the first conversion relationship includes the pose of each three-dimensional sensor in the coordinate system of the calibration object where the corresponding calibration object is located, and can be used
The representation, and the position of each calibration object in the sensor coordinate system of the three-dimensional sensor can be used
Represents; the second conversion relation indicates that the sensor can be used
It is shown that, among others,
the method is a transformation relation from a sensor coordinate system cam _ r-1 where an r-1 th three-dimensional sensor is located to a sensor coordinate system cam _ r where the r-th three-dimensional sensor is located; the third conversion relation may be
It is shown that, among others,
is the transformation relation from the coordinate system obj _ r-1 of the calibration object where the r-1 th calibration object is located to the coordinate system obj _ r of the calibration object where the r-th calibration object is located. The method comprises the following steps of (1) obtaining a sensor coordinate system, namely a sensor coordinate system 1-a sensor coordinate system r, wherein cam _1, cam _2, … … and cam _ r represent the sensor coordinate system where each three-dimensional sensor with the number r is located; obj _1, obj _2, … …, obj _ r denote the calibration object coordinate systems where r calibration objects are located, i.e., the calibration object coordinate system 1 to the calibration object coordinate system r. Then the r-1 th three-dimensional sensor andthe external reference of the r-th three-dimensional sensor is taken as an example, and the constraint conditions for the three-dimensional sensor are shown in formula 1:
singular value decomposition processing is carried out based on the formula 1, and then the transformation relation from the sensor coordinate system cam _ r-1 where the r-1 th three-dimensional sensor is located to the sensor coordinate system cam _ r where the r-1 th three-dimensional sensor is located can be calculated and obtained
It can be understood that for external reference calibration of other three-dimensional sensors, mutual coordinate system transformation relations can be obtained through calculation in sequence based on the constraint conditions, and then the external reference calibration result is determined; or, the pose of one of the three-dimensional sensors to the sensor coordinate system where each of the other three-dimensional sensors is located may be calculated based on the above formula 1, so as to obtain the external reference calibration result.
In the related art, external reference calibration among multiple sensors is applicable to a multi-sensor system with a common view, which results in complicated calibration operation and low calibration efficiency. In the embodiment of the present application, through the steps S310 to S320, the rigidly connected calibration objects with curved surface features are deployed on the calibration site of the multiple three-dimensional sensors, so that the calibration objects are the same in number, and the three-dimensional sensors rigidly connected to each other can simultaneously and respectively shoot the corresponding calibration objects without a common view, and finally, the coordinate system conversion relationship between the multiple three-dimensional sensors is obtained by calculation based on all the shot calibration objects, so that a common view is not required to be obtained between the multiple three-dimensional sensors during the external reference calibration, the problems of complicated calibration operation process and low calibration efficiency between the multiple three-dimensional sensors are solved, and the calibration method of the multiple three-dimensional sensors without a common view is implemented.
In some embodiments, an external reference calibration method for a multi-three-dimensional sensor is provided, and fig. 4 is a flowchart of another external reference calibration method for a multi-three-dimensional sensor according to an embodiment of the present application, as shown in fig. 4, the flowchart includes the following steps:
step S410, acquiring a first sub-conversion relation between a first sensor coordinate system of the first three-dimensional sensor and a first calibration object coordinate system of a first calibration object, and acquiring a second sub-conversion relation between a second sensor coordinate system of the second three-dimensional sensor and a second calibration object coordinate system of a second calibration object; wherein the first conversion relationship comprises the first sub-conversion relationship and the second sub-conversion relationship.
Wherein, under the condition that the number of the three-dimensional sensors is two, the three-dimensional sensors comprise a first three-dimensional sensor and a second three-dimensional sensor, and the calibration object comprises a first calibration object and a second calibration object; it should be noted that the first three-dimensional sensor can track and only track the first calibration object, and the second three-dimensional sensor can track and only track the second calibration object. Specifically, the pose of the first three-dimensional sensor under the coordinate system of the calibration object where the first calibration object is located can be obtained through calculation by using a point cloud matching algorithm
Namely the first sub-conversion relation; and calculating to obtain the pose of the second calibration object under the sensor coordinate system where the second three-dimensional sensor is located
I.e. the second sub-conversion relation described above. The calculation results of the poses can be expressed by formula 2 and formula 3, respectively, as follows:
wherein, l in the above formula 211，112，……，l34For indicating the above-mentioned position
The result of the matrix calculation of (1), r in the above equation 311，r12，……，r34For indicating the above-mentioned position
The matrix calculation result of (2). It should be noted that, the homogeneous coordinates are determined in both the formula 2 and the formula 3, and compared with the determination of common coordinates, the homogeneous coordinates are four-dimensional vectors and include attitude information and position information, so that the attitude coordinates and the position coordinates of the first three-dimensional sensor in the coordinate system of the calibration object where the first calibration object is located and the attitude coordinates and the position coordinates of the second calibration object in the coordinate system of the sensor where the second three-dimensional sensor is located are solved in one step, and the response speed of the processor is effectively improved.
Step S420, calculating to obtain the external reference calibration result according to the constraint conditions among the first sub-transformation relationship, the second transformation relationship, and the third transformation relationship.
Specifically, since the first three-dimensional sensor and the second three-dimensional sensor are rigidly connected, and the first calibration object and the second calibration object are rigidly connected, the second conversion relationship from the first three-dimensional sensor to the second three-dimensional sensor can be set as
The transformation relationship from the first calibration object to the second calibration object is a third transformation relationship
Wherein the content of the first and second substances,
can be represented by the following matrix shown in formula 4 and formula 5, respectively, as follows:
wherein c in the above formula 411，c12，……，c34For indicating the above-mentioned position
The result of the matrix calculation of (1), o in the above equation 311，o12，……，o34For indicating the above-mentioned position
The matrix calculation result of (2). The constraint conditions among the first sub-transformation relationship, the second transformation relationship and the third transformation relationship are shown in equation 6:
substituting the poses shown in the formulas 2 and 3 obtained by the solution in the step S410 and the poses to be solved shown in the formulas 4 and 5 into the formula 6, and finally obtaining a second conversion relation through calculation of a singular value solution algorithm
The second conversion relationship is
The external parameter calibration result between the first three-dimensional sensor and the second three-dimensional sensor is obtained.
Through the steps S410 to S420, when the number of the three-dimensional sensors is two, an external reference calibration result of the three-dimensional sensor is calculated based on the two rigidly connected three-dimensional sensors and the two rigidly connected calibrators, so that a high-precision external reference calibration method without a common view between the two three-dimensional sensors is realized.
In some embodiments, the step S420 further includes the following steps:
in step S421, a first preset value is determined based on the first sub-conversion relationship, the second sub-conversion relationship and the constraint, and a second preset value is determined based on the first sub-conversion relationship and the constraint.
The matrix calculation result of formula 6 after the pose is substituted is expanded, and can be simplified into formula 7 after transformation, as follows:
AB ═ C equation 7
Wherein the matrix a ═ a1 A2]，A1、A2The calculation results of (a) are shown in equation 8 and equation 9:
A2＝I12X12equation 9
Wherein, I in the above formula 912X12For representing an identity matrix of rank 12. The above first preset value may be determined based on the above equation 8 and equation 9. Next, the calculation result of C in the above equation 7 is shown in equation 10:
C＝[0 0 0 -r14 0 0 0 -r24 0 0 0 -r34]Tequation 10
Therefore, the above second preset value can be determined based on the above equation 10.
Step S422, singular value decomposition processing is performed on the first preset value to obtain a decomposition result, a third preset value including the second conversion relation and the third conversion relation is obtained according to the decomposition result and the second preset value, and the external reference calibration result is determined according to the third preset value.
Wherein, in the above formula 7, B ═ B1 B2]T，A1、A2The calculation results of (a) are shown in equation 11 and equation 12:
B1＝[o11 o12 o13 o14 o21 o22 o23 o24 o31 o32 o33 o34]equation 11
B2＝[c11 c12 c13 c14 c21 c22 c23 c24 c31 c32 c33 c34]Equation 12
Wherein the third preset value may be determined based on the above equations 11 and 13. Since A, C above is known, performing a singular value decomposition on a can result in equation 13, as follows:
A＝UΣVTequation 13
From the above equations 7 and 13, equation 14 is obtained by calculation as follows:
B＝VΣ+UTc formula 14
Wherein, sigma+The matrix results of (c) are shown in equation 15:
b can be obtained by calculation based on the formulas 7 to 15, and then an external reference calibration result is obtained by solving.
Through the steps S421 to S422, the external reference calibration result is calculated by using a singular value decomposition algorithm based on the constraint conditions, so that the external reference calibration efficiency and accuracy among the multiple three-dimensional sensors are effectively improved.
In some embodiments, the step S310 further includes the following steps:
step S311, under the condition that each calibration object is respectively positioned at a plurality of placing postures, acquiring at least two frames of point cloud images obtained by tracking the corresponding calibration object by each three-dimensional sensor, and acquiring the first conversion relation based on the point cloud images; wherein, the point cloud image is matched with the placing posture of the calibration object.
Specifically, the worker may continuously translate or rotate the calibration objects within the visual field of the three-dimensional sensors; in the process, the three-dimensional sensors are triggered to shoot a current calibration scene at the same time, and multiple groups of point cloud images are obtained by correspondingly shooting the continuously changed placing postures of the calibration objects in the current calibration scene. If the number of the currently shot point cloud images is less than two according to the judgment of the detection result of the processor by the staff, each calibration object can be continuously moved so that each three-dimensional sensor can shoot at least two frames of point cloud images. And finally, the processor obtains the first conversion relation based on average weighting calculation of multi-frame images after point cloud matching processing according to the point cloud data of the point cloud images corresponding to the three-dimensional sensors.
Through the step S311, the worker moves each calibration object within the visual field range of the plurality of three-dimensional sensors, and the processor controls each three-dimensional sensor to shoot and store the shot point cloud image each time the worker moves the placement position or posture of each calibration object, and finally the first conversion relation is obtained based on the calculation of the multi-frame point cloud image, so that the calculation accuracy of the coordinate system conversion relation between each three-dimensional sensor and the corresponding calibration object is effectively improved, the external reference calibration efficiency among the plurality of three-dimensional sensors is guaranteed, and the external reference calibration accuracy of the plurality of three-dimensional sensors is improved.
In some embodiments, the method for obtaining the first conversion relationship further includes the following steps: and acquiring first point cloud data of the calibration object under the sensor coordinate system corresponding to each three-dimensional sensor through each three-dimensional sensor, and performing point cloud matching processing on the first point cloud data and second point cloud data of the calibration object under the calibration object coordinate system to obtain the first conversion relation.
Specifically, in the visual field range of each three-dimensional sensor, the processor shoots a corresponding calibration object in the respective visual field range through each three-dimensional sensor, so as to obtain first point cloud data shot by each three-dimensional sensor, wherein the first point cloud data are located under the sensor coordinate where each three-dimensional sensor is located; meanwhile, the processing area also acquires second point cloud data under a calibration object coordinate system where each calibration object is located, wherein the point cloud data can be coordinate data corresponding to calibration points on the calibration objects stored in advance. And performing point cloud matching processing on the first point cloud data and the second point cloud data, and further calculating to obtain the first conversion relation.
Through the embodiment, the first conversion relation between each sensor coordinate system and the corresponding calibration object coordinate system is calculated and obtained based on the point cloud matching algorithm, so that the external reference calibration efficiency and accuracy among the multiple three-dimensional sensors are further improved.
The embodiment of the present invention is described in detail below with reference to an actual application scenario, and fig. 5 is a flowchart of another external reference calibration method for a multi-three-dimensional sensor according to the embodiment of the present application, as shown in fig. 5, the flowchart includes the following steps:
and S501, fixedly connecting a calibration object and an initial three-dimensional sensor. And rigidly connecting each calibration object and initializing the three-dimensional sensor to ensure that each 3D three-dimensional sensor can respectively shoot the corresponding calibration object.
Step S502, triggering each three-dimensional sensor to shoot a point cloud image of a calibration object; and the software controls the three-dimensional sensors to take pictures and store every time the calibration object moves one position within the visual field range of each three-dimensional sensor.
Step S503, determining whether there are n groups of point cloud images (n is greater than or equal to 2, and n is a positive integer) after the step S502 is executed.
In step S504, if the determination result in step S503 is negative, the calibration object is moved, and the step S502 is continuously executed.
Step S505, if the judgment result of the step S503 is positive, calculating the transformation relation of the two coordinate systems according to the point cloud image; after the n images are collected, the processor calls the calibration parameter calculation module to obtain an external reference calibration result.
It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here.
The embodiment also provides an external reference calibration device for a multi-three-dimensional sensor, which is used for implementing the above embodiments and preferred embodiments, and the description of the external reference calibration device is omitted. As used hereinafter, the terms "module," "unit," "subunit," and the like may implement a combination of software and/or hardware for a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 6 is a block diagram of an external reference calibration apparatus for a multi-three-dimensional sensor according to an embodiment of the present application, as shown in fig. 6, the apparatus includes: an acquisition module 62 and a results module 64.
The obtaining module 62 is configured to obtain a first conversion relationship between a sensor coordinate system in which the at least two three-dimensional sensors are located and a calibration object coordinate system in which a calibration object corresponding to each of the at least two three-dimensional sensors is located; the three-dimensional sensors are rigidly connected, and the calibration objects are rigidly connected; the calibration object is a calibration object with curved surface characteristics; the result module 64 is configured to calculate the second conversion relationship and determine the second conversion relationship as the external reference calibration result according to the constraint conditions among the first conversion relationship, the second conversion relationship, and the third conversion relationship; the second conversion relation is a conversion relation between different sensor coordinate systems where the at least two three-dimensional sensors are located, and the third conversion relation is a conversion relation between calibration object coordinate systems where calibration objects corresponding to the at least two three-dimensional sensors are located.
Through the embodiment, the calibration objects with the curved surface characteristics are arranged on the calibration site of the multiple three-dimensional sensors in a rigid connection mode, the number of the calibration objects is the same as that of the calibration objects, the three-dimensional sensors in the rigid connection mode can shoot the corresponding calibration objects simultaneously and respectively under the condition that no common visual field exists, and the coordinate system conversion relation among the multiple three-dimensional sensors is finally calculated through the result module 64 on the basis of all the shot calibration objects, so that the multiple three-dimensional sensors do not need to have the common visual field in the external reference calibration process, the problems that the calibration operation process among the multiple three-dimensional sensors is complicated and the calibration efficiency is low are solved, and the calibration method of the multiple three-dimensional sensors without the common visual field is realized.
In some embodiments, the obtaining module 62 is further configured to obtain a first sub-transformation relationship between the first sensor coordinate system of the first three-dimensional sensor and the first calibration object coordinate system of the first calibration object, and a second sub-transformation relationship between the second sensor coordinate system of the second three-dimensional sensor and the second calibration object coordinate system of the second calibration object; wherein the first conversion relationship comprises the first sub-conversion relationship and the second sub-conversion relationship; the result module 64 is further configured to calculate the external reference calibration result according to the constraint conditions among the first sub-transformation relationship, the second transformation relationship, and the third transformation relationship.
In some embodiments, the result module 64 is further configured to determine a first preset value based on the first sub-transformation relationship, the second sub-transformation relationship and the constraint, and determine a second preset value based on the first sub-transformation relationship and the constraint; the result module 64 performs singular value decomposition on the first preset value to obtain a decomposition result, and obtains a third preset value including the second conversion relationship and the third conversion relationship according to the decomposition result and the second preset value, and further determines the external reference calibration result according to the third preset value.
In some embodiments, the first three-dimensional sensor is configured to track the first calibration object and the second three-dimensional sensor is configured to track the second calibration object.
In some embodiments, the obtaining module 62 is further configured to obtain at least two frames of point cloud images obtained by tracking the corresponding calibration objects by each three-dimensional sensor when each calibration object is located in a plurality of pose positions, and obtain the first conversion relationship based on the point cloud images; wherein, the point cloud image is matched with the placing posture of the calibration object.
In some embodiments, the obtaining module 62 is further configured to obtain, by each of the three-dimensional sensors, first point cloud data of the calibration object in the sensor coordinate system corresponding to each of the three-dimensional sensors, and perform point cloud matching processing on the first point cloud data and second point cloud data of the calibration object in the calibration object coordinate system to obtain the first conversion relationship.
The above modules may be functional modules or program modules, and may be implemented by software or hardware. For a module implemented by hardware, the modules may be located in the same processor; or the modules can be respectively positioned in different processors in any combination.
The embodiment also provides an external reference calibration system for the multi-three-dimensional sensor, which comprises a control device and at least two calibration objects with curved surface characteristics; the at least two calibration objects with the curved surface characteristics are rigidly connected, so that the number of the calibration objects is the same as that of the calibration objects, and the three-dimensional sensors which are rigidly connected with each other can simultaneously and respectively shoot the corresponding calibration objects under the condition of no common visual field;
the control device is used for acquiring a first conversion relation between a sensor coordinate system where at least two three-dimensional sensors are located and a calibration object coordinate system where calibration objects corresponding to the sensor coordinate systems are located; the control device is also used for calculating the second conversion relation and determining the second conversion relation as the external reference calibration result according to the constraint conditions among the first conversion relation, the second conversion relation and the third conversion relation; the second conversion relation is a conversion relation between different sensor coordinate systems where the at least two three-dimensional sensors are located, and the third conversion relation is a conversion relation between calibration object coordinate systems where calibration objects corresponding to the at least two three-dimensional sensors are located. The control device is connected to the at least two three-dimensional sensors, respectively, and the control device
Through the embodiment, the rigidly connected calibration objects with the curved surface characteristics are deployed on the calibration site of the multiple three-dimensional sensors, so that the calibration objects are the same in quantity as the calibration objects, the corresponding calibration objects can be simultaneously and respectively shot by the three-dimensional sensors which are rigidly connected with each other under the condition of no common visual field, and the coordinate system conversion relation among the multiple three-dimensional sensors is finally calculated and obtained through the control device on the basis of all the shot calibration objects, so that the multiple three-dimensional sensors do not need to have the common visual field in the external reference calibration process, the problems of complicated calibration operation process and low calibration efficiency among the multiple three-dimensional sensors are solved, and the calibration method of the multiple three-dimensional sensors without the common visual field is realized.
In some embodiments, in the case that the number of the three-dimensional sensors is two, the three-dimensional sensor includes a first three-dimensional sensor and a second three-dimensional sensor, and the calibration object includes a first calibration object and a second calibration object; the control device is further configured to obtain a first sub-transformation relationship between a first sensor coordinate system of the first three-dimensional sensor and a first calibration object coordinate system of the first calibration object, and a second sub-transformation relationship between a second sensor coordinate system of the second three-dimensional sensor and a second calibration object coordinate system of the second calibration object; wherein the first conversion relationship comprises the first sub-conversion relationship and the second sub-conversion relationship; and the control device calculates the external reference calibration result according to the constraint conditions among the first sub-conversion relation, the second conversion relation and the third conversion relation.
In some embodiments, the control device is further configured to determine a first preset value based on the first sub-conversion relationship, the second sub-conversion relationship and the constraint, and determine a second preset value based on the first sub-conversion relationship and the constraint; the control device carries out singular value decomposition processing on the first preset value to obtain a decomposition result, obtains a third preset value comprising the second conversion relation and the third conversion relation according to the decomposition result and the second preset value, and further determines the external reference calibration result according to the third preset value.
In some embodiments, the first three-dimensional sensor is configured to track the first calibration object and the second three-dimensional sensor is configured to track the second calibration object.
In some embodiments, the control device is further configured to, when each of the calibration objects is located in a plurality of pose positions, obtain at least two frames of point cloud images obtained by tracking the corresponding calibration object by each of the three-dimensional sensors, and obtain the first conversion relationship based on the point cloud images; wherein, the point cloud image is matched with the placing posture of the calibration object.
In some embodiments, the control device is further configured to acquire, by each of the three-dimensional sensors, first point cloud data of the calibration object in the sensor coordinate system corresponding to each of the three-dimensional sensors, and perform point cloud matching processing on the first point cloud data and second point cloud data of the calibration object in the calibration object coordinate system to obtain the first conversion relationship.
The embodiment also provides a computer device, which may be a server, and fig. 7 is a structural diagram of the inside of the computer device according to the embodiment of the present application, as shown in fig. 7. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is for storing the first conversion relationship. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method for external reference calibration for a multi-three-dimensional sensor.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
The present embodiment also provides an electronic device comprising a memory having a computer program stored therein and a processor configured to execute the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, acquiring a first conversion relation between a sensor coordinate system where the at least two three-dimensional sensors are located and a calibration object coordinate system where the calibration objects corresponding to the sensor coordinate systems are located; the three-dimensional sensors are rigidly connected, and the calibration objects are rigidly connected; the calibration object is a calibration object with curved surface characteristics.
S2, calculating the second conversion relation according to the constraint conditions among the first conversion relation, the second conversion relation and the third conversion relation, and determining the second conversion relation as the external reference calibration result; the second conversion relation is a conversion relation between different sensor coordinate systems where the at least two three-dimensional sensors are located, and the third conversion relation is a conversion relation between calibration object coordinate systems where calibration objects corresponding to the at least two three-dimensional sensors are located.
It should be noted that, for specific examples in this embodiment, reference may be made to examples described in the foregoing embodiments and optional implementations, and details of this embodiment are not described herein again.
In addition, in combination with the external reference calibration method for the multi-three-dimensional sensor in the foregoing embodiments, the embodiments of the present application may provide a storage medium to implement. The storage medium having stored thereon a computer program; the computer program, when executed by a processor, implements any of the above-described embodiments of the method for external reference calibration of a multi-three-dimensional sensor.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It should be understood by those skilled in the art that various features of the above-described embodiments can be combined in any combination, and for the sake of brevity, all possible combinations of features in the above-described embodiments are not described in detail, but rather, all combinations of features which are not inconsistent with each other should be construed as being within the scope of the present disclosure.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An external reference calibration method for a multi-three-dimensional sensor, the method comprising:
acquiring a first conversion relation between a sensor coordinate system where at least two three-dimensional sensors are located and a calibration object coordinate system where calibration objects corresponding to the sensor coordinate systems are located; wherein, a plurality of the three-dimensional sensors are rigidly connected with each other, and a plurality of the calibration objects are rigidly connected with each other; the calibration object is provided with a curved surface characteristic;
calculating to obtain the second conversion relation and determining the second conversion relation as the external reference calibration result according to the constraint conditions among the first conversion relation, the second conversion relation and the third conversion relation; the second conversion relationship is a conversion relationship between different sensor coordinate systems where the at least two three-dimensional sensors are located, and the third conversion relationship is a conversion relationship between calibration object coordinate systems where calibration objects corresponding to the at least two three-dimensional sensors are located.
2. The external reference calibration method according to claim 1, wherein in a case where the number of the three-dimensional sensors is two, the three-dimensional sensors include a first three-dimensional sensor and a second three-dimensional sensor, and the calibrators include a first calibrator and a second calibrator; the method comprises the following steps:
acquiring a first sub-conversion relation between a first sensor coordinate system of the first three-dimensional sensor and a first calibration object coordinate system of a first calibration object, and acquiring a second sub-conversion relation between a second sensor coordinate system of the second three-dimensional sensor and a second calibration object coordinate system of a second calibration object; wherein the first translation relationship comprises the first sub-translation relationship and the second sub-translation relationship;
and calculating to obtain the external reference calibration result according to the constraint conditions among the first sub-conversion relation, the second conversion relation and the third conversion relation.
3. The external reference calibration method according to claim 2, wherein the calculating the external reference calibration result according to the constraint conditions among the first sub-conversion relationship, the second conversion relationship and the third conversion relationship comprises:
determining a first preset value based on the first sub-conversion relation, the second sub-conversion relation and the constraint condition, and determining a second preset value based on the first sub-conversion relation and the constraint condition;
and performing singular value decomposition processing on the first preset value to obtain a decomposition result, obtaining a third preset value comprising the second conversion relation and the third conversion relation according to the decomposition result and the second preset value, and further determining the external reference calibration result according to the third preset value.
4. The external reference calibration method according to claim 2, wherein the first three-dimensional sensor is used for tracking the first calibration object, and the second three-dimensional sensor is used for tracking the second calibration object.
5. The external reference calibration method according to claim 1, wherein the obtaining of the first conversion relationship between the sensor coordinate systems of the at least two three-dimensional sensors and the calibration object coordinate systems of the respective corresponding calibration objects comprises:
under the condition that each calibration object is respectively positioned at a plurality of placing postures, acquiring at least two frames of point cloud images obtained by tracking the corresponding calibration object by each three-dimensional sensor, and acquiring the first conversion relation based on the point cloud images; and the point cloud image is matched with the placing posture of the calibration object.
6. The external reference calibration method according to any one of claims 1 to 5, wherein the obtaining of the first conversion relationship between the sensor coordinate systems of the at least two three-dimensional sensors and the calibration object coordinate systems of the respective corresponding calibration objects comprises:
and acquiring first point cloud data of the calibration object under the sensor coordinate system corresponding to each three-dimensional sensor, and performing point cloud matching processing on the first point cloud data and second point cloud data of the calibration object under the calibration object coordinate system to obtain the first conversion relation.
7. An external reference calibration apparatus for a multi-three-dimensional sensor, the apparatus comprising: an acquisition module and a result module;
the acquisition module is used for acquiring a first conversion relation between a sensor coordinate system where the at least two three-dimensional sensors are located and a calibration object coordinate system where the calibration objects corresponding to the sensor coordinate systems are located; wherein, a plurality of the three-dimensional sensors are rigidly connected with each other, and a plurality of the calibration objects are rigidly connected with each other; the calibration object is provided with a curved surface characteristic;
the result module is used for calculating the second conversion relation according to the constraint conditions among the first conversion relation, the second conversion relation and the third conversion relation and determining the second conversion relation as the external reference calibration result; the second conversion relationship is a conversion relationship between different sensor coordinate systems where the at least two three-dimensional sensors are located, and the third conversion relationship is a conversion relationship between calibration object coordinate systems where calibration objects corresponding to the at least two three-dimensional sensors are located.
8. An external reference calibration system for a multi-three-dimensional sensor, characterized in that the system comprises a control device and at least two calibrators with curved surface characteristics;
the at least two calibration objects with the curved surface characteristics are rigidly connected, so that the number of the calibration objects is the same as that of the calibration objects, and the three-dimensional sensors which are rigidly connected with each other can simultaneously and respectively shoot the corresponding calibration objects under the condition of no common visual field;
the control device is used for executing the external reference calibration method of the multi-three-dimensional sensor as claimed in any one of claims 1 to 6.
9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to perform the method for external reference calibration of a multi-three-dimensional sensor according to any one of claims 1 to 6.
10. A storage medium, in which a computer program is stored, wherein the computer program is configured to perform the method for external reference calibration of a multi-three-dimensional sensor according to any one of claims 1 to 6 when the computer program is run.
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