CN115235527B - Sensor external parameter calibration method, device and electronic equipment - Google Patents

Abstract

The invention discloses a sensor external parameter calibration method, device and electronic equipment. The method includes: controlling the target device to perform an extrinsic calibration movement operation; determining the velocity variation of the target sensor corresponding to different target sensors on the target device when performing the extrinsic calibration movement operation; wherein the different target sensors are mounted on the target device through a rigid connection; according to Different target sensors correspond to the target sensor speed variation, and the external parameters of different target sensors are calibrated. The technical solution of this application uses the speed change between different sensors to perform external parameter calibration, which solves the difficulty of external parameter calibration caused by the difficulty of measuring the position of some sensors, and the large error of external parameter calibration that may be caused by inaccurate position measurement. The problem.

Description

Sensor external parameter calibration method, device and electronic equipment

technical field

The invention relates to the technical field of sensor calibration, in particular to a sensor external parameter calibration method, device and electronic equipment.

Background technique

Calibration of external parameters between sensors is an important requirement in the field of mobile robots and autonomous driving. Mobile robots and self-driving vehicles are usually equipped with a variety of sensors, such as cameras, lidar and inertial measurement sensors. In related technologies, the external parameters can usually be calibrated by using the position changes between the various sensors on the robot after the robot moves. However, similar to inertial measurement sensors, it is difficult to measure the relative position changes. It is difficult to calibrate the parameters, and it is very likely that a large external parameter calibration error will occur due to inaccurate position measurement.

Contents of the invention

The invention provides a sensor external parameter calibration method, device and electronic equipment to solve the problems of difficult external parameter calibration caused by difficult sensor position measurement and large external parameter calibration errors that may be caused by inaccurate position measurement.

According to one aspect of the present invention, a method for calibrating external parameters of a sensor is provided, the method comprising:

Control the target device to perform external parameter calibration motion operation;

Determine the target sensor speed variation corresponding to the different target sensors on the target device when performing the external parameter calibration movement operation; wherein the different target sensors are mounted on the target device through a rigid connection;

According to the target sensor speed variation corresponding to different target sensors, the external parameters of different target sensors are calibrated.

According to another aspect of the present invention, a sensor external parameter calibration device is provided, the device comprising:

A control module, configured to control the target device to perform external parameter calibration motion operations;

The speed change determination module is used to determine the speed change of the target sensor corresponding to the different target sensors on the target device when the external parameter calibration operation is performed; wherein the different target sensors are mounted on the target device through a rigid connection;

The calibration module is used to calibrate the external parameters of different target sensors according to the target sensor speed variation corresponding to the different target sensors.

According to another aspect of the present invention, an electronic device is provided, and the electronic device includes:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the method described in any embodiment of the present invention. Calibration method of sensor extrinsic parameters.

According to the technical solution of the embodiment of the present invention, by controlling the target device to perform the external parameter calibration movement operation, the target sensor speed change corresponding to the different target sensors rigidly connected on the target device is determined; according to the target sensor speed change corresponding to different target sensors, To calibrate the external parameters of different target sensors, the technical solution of this application uses the speed changes between different sensors to calibrate the external parameters, which solves the difficulty of external parameter calibration caused by the difficulty of sensor position measurement, and the possibility that the position measurement is not accurate. The problem of large external parameter calibration error caused by accuracy reduces the difficulty of external parameter calibration between sensors and improves the universality of external parameter calibration between sensors.

It should be understood that the content described in this section is not intended to identify key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will be easily understood from the following description.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

Fig. 1 is a flow chart of a sensor external parameter calibration method provided according to Embodiment 1 of the present invention;

Fig. 2 is a flow chart of a sensor external parameter calibration method provided according to Embodiment 2 of the present invention;

Fig. 3 is a schematic structural diagram of a sensor external parameter calibration device provided according to Embodiment 3 of the present invention;

Fig. 4 is a schematic structural diagram of an electronic device implementing a sensor external parameter calibration method according to an embodiment of the present invention.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

It should be noted that the terms "objective", "preset" and "to be optimized" in the specification and claims of the present invention and the above drawings are used to distinguish similar objects, not necessarily to describe a specific order or sequentially. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

Embodiment one

Fig. 1 is a flow chart of a method for calibrating external parameters of sensors according to Embodiment 1 of the present invention. This embodiment is applicable to the case of calibrating external parameters between sensors, and the method can be performed by a calibration device for external parameters of sensors. Execution, the sensor external parameter calibration device can be implemented in the form of hardware and/or software, and the sensor external parameter calibration device can be configured in any electronic device with a sensor external parameter calibration method. As shown in Figure 1, the sensor external parameter calibration method of this embodiment may include:

S110. Control the target device to perform an extrinsic parameter calibration motion operation.

The present invention is applicable to the scene of sensor external parameter calibration. For example, the target device is generally equipped with a variety of sensors, and the output data of each sensor is generally output in the coordinate system of the sensor itself. It is necessary to unify the sensor data into the same coordinate system, so the external parameters of the sensor need to be calibrated .

Wherein, the target device may be a mobile device that needs to calibrate external parameters of multiple sensors carried by itself, such as a mobile robot or an autonomous vehicle. The external reference is the relative positional relationship or relative angle relationship between different sensors. The external parameter calibration may refer to the process of calibrating the external parameters between the target sensors mounted on the target device, and the external parameter calibration motion operation may realize the motion operation adopted for external parameter calibration of the sensors mounted on the target device.

In a feasible embodiment, the controlling the target device to perform an extrinsic calibration movement operation may include the following process:

The target device is controlled to move with acceleration and deceleration along the external parameter calibration movement route of the preset shape, and the speed adjustment frequency of the target device is greater than the preset frequency threshold.

Wherein, the speed adjustment includes speed magnitude and/or speed direction; the acceleration/deceleration movement includes fixed acceleration, fixed deceleration, variable acceleration and variable deceleration.

Wherein, the preset shape can be any route track shape that can make the target device move, and can include but not limited to straight track and/or curved track, etc., for example, it can be an "8"-shaped route, an "S"-shaped route, a "Z" Glyph route, etc., so as to ensure that the external parameter calibration results can be more suitable for use in actual operation scenarios, and obtain more accurate external parameter calibration values. Optionally, the extrinsically calibrated motion route of a preset shape may include, but not limited to, going straight, making a sharp turn, making a right-angle turn, making a U-turn, turning left, turning right, and the like.

The preset frequency threshold can be the minimum number of times to adjust the speed of the target device, which can be set according to the actual situation. Only when the target device is adjusted and changed multiple times can more speed change data be obtained for the same sensor. To ensure that the amount of data is sufficient and true as much as possible, so as to avoid calibration deviation caused by individual data.

In this technical solution, by controlling the target device to perform multiple acceleration and deceleration movements on the external parameter calibration movement route of the preset shape, the speed of the target device has been changed multiple times, and it is convenient to record each sensor when the target device is running at each speed. The numerical value of the speed change ensures that the data of the speed change is as much as possible, and avoids the unrepresentative external parameters of the calibration due to the small amount of data.

In a feasible embodiment, controlling the target device to perform acceleration and deceleration movement along the external parameter calibration movement route of the preset shape may include the following process:

The load capacity of the target device is adjusted, and the target device adjusted by the load capacity is controlled to move with acceleration and deceleration along a movement route calibrated by external parameters of a preset shape.

Among them, the load capacity can be the weight borne by the target device. By adjusting the weight of the objects carried by the target device, the target device can simulate the motion state of the target device when it carries objects of different weights during the external parameter calibration process, so that the target device can Collect sensor output values under different load conditions for calibration to ensure the accuracy of external parameter calibration. Optionally, if it is considered that invalid data will appear when setting different loads, it can be directly set to no-load and full-load.

Specifically, the load capacity of the target device is adjusted, and the target device is controlled to perform acceleration and deceleration movement according to the external parameter calibration movement route of the preset shape when the load capacity is different, and the speed adjustment frequency of the target device is greater than the preset frequency threshold. For example, when the target device is in the unloaded state, the target device is controlled to accelerate and decelerate according to the figure-of-eight motion route, and then the target device is in a fully loaded state, and the target device is controlled to accelerate and decelerate according to the figure-eight motion route; The speed variation of the target equipment at different loads is used for external parameter calibration.

This technical solution, by controlling the target equipment with different loads to accelerate and decelerate according to the external parameter calibration movement route of the preset shape, can record the speed change of the target equipment in different states, avoiding the singleness of data, and realizing data synchronization. Diversity makes external reference calibration more accurate.

S120. Determine the velocity variation of the target sensor corresponding to the different target sensors on the target device when the extrinsic parameter calibration operation is performed; wherein the different target sensors are mounted on the target device through a rigid connection.

Among them, the target sensor is a detection device that can convert the detected signal into an electrical signal or other required form output according to a certain rule, so as to meet the requirements of information transmission, processing, storage, display, recording and control. Such as laser sensors, inertial sensors, displacement sensors, speed sensors and acceleration sensors, etc.

Rigid connection can mean that between two connecting parts, when one connecting part is displaced or stressed, the other parts connected to it will not be displaced or relatively deformed relative to the first connecting part, that is, the two connecting parts are A whole. For example, when the target device accelerates and decelerates two connected sensors, there will be no relative displacement between them or no deformation of the connection position between the two.

Specifically, when the target device performs the external parameter calibration movement operation, it determines the multiple speeds of different target sensors on the target device on the preset external parameter calibration motion route, and determines the corresponding target sensor according to the multiple speeds of the target sensor. Multiple speed deltas. For example, when the robot moves with acceleration and deceleration along a figure-eight route, determine the multiple speed values of each target sensor in the robot during operation, and determine the multiple speed changes of the corresponding target sensor according to the multiple speed values of the target sensor in the robot In this way, multiple speed changes of each target sensor on the robot can be determined more accurately, and large errors caused by too little speed change data can be avoided, which is conducive to the calibration of external parameters and reduces the calibration error of external parameters.

S130. Perform external parameter calibration on different target sensors according to the target sensor speed variation corresponding to the different target sensors.

Specifically, when the target device is performing an extrinsic parameter calibration movement operation, it determines multiple velocity variations of target sensors corresponding to different target sensors, and calibrates the extrinsic parameters between the target sensors according to the multiple velocity variations of the target sensors. For example, when the target device performs an extrinsic calibration motion operation, it determines the first speed change corresponding to the first sensor on the target device and the second speed change corresponding to the second sensor in the same time interval, according to the first speed change corresponding to the same time interval The speed variation and the second speed variation are used to calibrate the external parameters between the first sensor and the second sensor.

According to the technical solution of the embodiment of the present invention, by controlling the target device to perform the external parameter calibration movement operation, the target sensor speed change corresponding to the different target sensors rigidly connected on the target device is determined; according to the target sensor speed change corresponding to different target sensors, For external parameter calibration of different target sensors, the technical solution of this application uses the speed change between different sensors to perform external parameter calibration, which solves the difficulty of external parameter calibration caused by the difficulty of sensor position data measurement, and the possible The problem of large external parameter calibration error caused by inaccuracy reduces the difficulty of external parameter calibration between sensors.

Embodiment two

Fig. 2 is a flow chart of a sensor external parameter calibration method according to Embodiment 2 of the present invention. This embodiment describes in detail the speed change of the target sensor on the basis of the above embodiment, and then performs external reference calibration for different target sensors. calibration. As shown in Figure 2, the sensor external parameter calibration method of this embodiment may include:

S210. For each target sensor, determine the target sensor data corresponding to the target sensor collected when the target device performs an extrinsic calibration movement operation at each collection moment.

Among them, the target device is equipped with different target sensors. During the process of the target device performing the external parameter calibration movement operation, the target sensor can collect data, and the corresponding target sensors collected by each target sensor at different collection times can be obtained. data. Wherein, the target sensor data may include but not limited to sensor position data, velocity magnitude and direction data, acceleration data, and sensor data collection time.

S220, according to the target sensor data of the target sensor at each collection time, determine the target sensor speed change amount of the target sensor in the target time interval; wherein, each target time interval passes through any two adjacent collection times selected from each collection time The time interval between different targets is determined, and the time intervals of different targets do not overlap in time.

Among them, for each target time interval, each target sensor needs to obtain a target sensor speed change, that is, each target sensor in the same target time interval calculates a target sensor speed change, so that when determining the speed change between different sensors It can be characterized by the speed change in the same time interval. Wherein, the target time interval can be a time interval within a threshold value, so that multiple speed variations of the target device during motion can be obtained, thereby increasing the amount of data and helping to reduce external parameter errors. It can be understood that the threshold time can be set according to actual conditions, and can be 0.5 seconds, 1 second, or 2 seconds, etc.

Optionally, the target sensor data collected at different collection times are collected when the target device moves along a straight line during the extrinsic parameter calibration movement operation.

Specifically, no matter what kind of pre-set external parameter calibration motion route the target device moves along, the target sensor data when the target device moves along the straight line should be collected as much as possible, because when the time interval is used to obtain the velocity variation of the target sensor , collecting the target sensor data when the target device moves along a straight line can ensure the accuracy of the target sensor velocity variation acquired at the target time interval. For example, for a position sensor, if the position data of the bend is obtained, the position change data of the target time interval will be calculated smaller, and the speed change obtained through the position change data will also be smaller, which greatly affects the data. Therefore, it is necessary to record the target sensor data when the target device moves along a straight line.

In a feasible embodiment, according to the target sensor data of the target sensor at each collection moment, determining the target sensor speed change amount of the target sensor at the target time interval may include the following steps A1-A2:

Step A1, if the target sensor is suitable for speed measurement, determine the acceleration of the target sensor at each collection time from the target sensor data at each collection time.

Step A2, according to the acceleration of the target sensor at each collection moment and the duration of the target time interval, calculate the velocity variation of the target sensor at different target time intervals.

Specifically, the target sensor suitable for speed measurement can collect the target sensor data at each acquisition time of the target sensor during the external parameter calibration movement operation of the target device, and determine the acceleration of the target sensor at each acquisition time according to the data of the target sensor. In addition, it is also necessary to determine the different target time intervals of the target sensor, and then combine the acceleration of each acquisition time of the target sensor to obtain the velocity change of the target sensor at different target time intervals through calculation.

为：As an example, the inertial sensor in the motion of the robot is suitable for speed measurement, and the acceleration of the inertial sensor at time t ₁ is obtained, so that the acceleration

for:

则在t₂时刻惯性传感器的速度变化量

相对于t₁时刻为：Similarly, the acceleration of the inertial sensor at time _t2 is obtained

Then the velocity variation of the inertial sensor at time t ₂

Relative to time t ₁ is:

使得目标传感器速度变化量更加准确。其中，i为大于零的正整数。According to the above method, the target sensor speed variation at different target time intervals can be obtained

This makes the speed change of the target sensor more accurate. Wherein, i is a positive integer greater than zero.

In this technical solution, after determining the acceleration at each acquisition time of the target sensor suitable for speed measurement, the speed change of the target sensor at different target time intervals is obtained through accurate calculation, thereby realizing the accuracy and accuracy of the speed change of the target sensor. simplicity.

In a feasible embodiment, according to the target sensor data of the target sensor at each collection moment, determining the target sensor speed variation of the target sensor at the target time interval may include the following steps B1-B2:

Step B1. If the target sensor is suitable for position measurement, determine the sensor position of the target sensor at each collection time from the target sensor data at each collection time.

Step B2, according to the sensor position of the target sensor at each collection moment and the length of the target time interval, calculate the target sensor velocity variation of the target sensor at different target time intervals.

Specifically, the target sensor suitable for position measurement can collect the target sensor data at each acquisition time of the target sensor during the external parameter calibration movement operation process of the target device, and determine the sensor position of the target sensor at each acquisition time according to the data of the target sensor , in addition, it is also necessary to determine the different target time intervals of the target sensor, combined with the sensor position at each acquisition time of the target sensor, the velocity variation of the target sensor at different target time intervals is obtained by calculation.

为：For example, during the movement of the robot, for the laser sensor on the robot, which is suitable for position measurement, the laser odometer technology is used to obtain the position of the laser sensor at time t ₀

for:

假定车辆在目标时间间隔内为匀速运动，t₀<t₁<t₂，且t₀、t₁、t₂时刻在阈值时间段内，则t₁时刻激光传感器的速度

为：Similarly, get the position of the laser sensor at time t ₂

Assuming that the vehicle is moving at a constant speed within the target time interval, t ₀ <t ₁ <t ₂ , and t ₀ , t ₁ , and t ₂ are within the threshold time period, then the speed of the laser sensor at t ₁

for:

则t2时刻激光传感器速度变化量

相对于t₁时刻为：Similarly, get the speed of the laser sensor at time t ₂

Then the laser sensor speed change at time t2

Relative to time t ₁ is:

使得目标传感器速度变化量更加准确。其中，i为大于零的正整数。According to the above method, the target sensor speed variation at different target time intervals can be obtained

This makes the speed change of the target sensor more accurate. Wherein, i is a positive integer greater than zero.

This technical solution determines the position at each acquisition time of the target sensor suitable for position measurement. Although the acquisition of position data is easier, some target sensors such as inertial measurement sensors cannot easily obtain position data, so as to be different from the target sensor for position measurement. It is very difficult to calibrate the external parameters, so it is necessary to simply and accurately calculate the velocity variation of the target sensor for position measurement at different target time intervals, so as to achieve the accuracy and ease of acquisition of the velocity variation of the target sensor. For example, the position of each acquisition time of the laser sensor is obtained, and the speed change of each target time interval is determined by determining the position information of different time intervals and the corresponding time interval start time and end time, and the speed change amount is simply and accurately completed. It is also easier to calibrate external parameters.

In a feasible embodiment, the external parameter calibration of different target sensors according to the target sensor speed variation corresponding to different target sensors may include the following steps C1-C2:

Step C1, use the external parameter calibration parameter variable to be optimized and the target sensor speed change corresponding to the two target sensors within the same target time interval to construct the speed residual between the target sensors; the speed residual is used to describe the different target sensors. The difference between the speed changes when the external parameters are converted to the same coordinate system;

Step C2. Optimizing the speed residuals between the target sensors at different target time intervals, and determining the optimal value of the external parameter calibration parameter to be optimized.

Wherein, the external parameter calibration parameter variables to be optimized may be the original external parameter parameters with certain errors obtained through machining parameters or direct measurement before the external parameter calibration operation.

和激光传感器的速度变化量

可以得出通过两个传感器之间的速度变化量差异表征的速度残差的公式，如下：Specifically, the velocity residual between the target sensors is constructed by using the calibration parameter variables of the external parameters to be optimized and the target sensor velocity changes corresponding to the two target sensors within the same target time interval. For example, during the movement of the robot, if the two sensors are the inertial sensor and the laser sensor as the target sensor with the same time interval of each target during the travel, then the parameter variable U of the external parameter calibration to be optimized is combined with the speed of the inertial sensor in the same time interval Variation

and the amount of speed change of the laser sensor

The formula for the velocity residual represented by the difference in velocity variation between the two sensors can be derived as follows:

Wherein, i is a positive integer greater than zero, t _i represents the end time of the target time interval, and the start time t _i-1 of the target time interval. In this technical solution, the speed residual between the target sensors is obtained through the calibration parameter variables of the external parameters to be optimized and the target sensor speed changes corresponding to the two target sensors within the same target time interval. Small, indicating that the current extrinsic parameters are more realistic and can reduce the error during calibration. Therefore, it is necessary to optimize the speed residual to determine the optimized value of the extrinsic calibration parameters to be optimized to make the extrinsic parameters more accurate.

In a feasible embodiment, optimizing the velocity residual function between target sensors at different target time intervals may include the following steps D1-D2:

Step D1, taking the sum of multiplication results between the speed residuals between target sensors corresponding to different target time intervals and the transposed speed residuals between the target sensors as the target function.

Step D2 , solving the objective function, and determining the value of the external parameter calibration parameter variable to be optimized when the objective function takes the minimum value.

Specifically, after the velocity residual is determined, in order to obtain accurate external parameters, it needs to be optimized, which needs to convert the velocity residual between target sensors corresponding to different target time intervals to the velocity residual between target sensors The sum of the multiplication results between the settings is used as the objective function, and the objective function is solved, and the minimum value obtained by solving the objective function is used as the optimized value of the external parameter calibration parameter variable to be optimized. For example, during the motion of the robot, the velocity residual between the inertial sensor and the laser sensor has been obtained, then the objective function is:

By solving the objective function and obtaining its minimum value, the optimized value of the calibration parameter variable of the external parameter to be optimized is obtained. In addition, after the calibration is over, the optimized value of the external parameter calibration parameter variable to be optimized can be used as the external parameter of the sensor calibration, but as time goes by, due to various practical reasons, the error of the external parameter value will become larger, so it needs to be adjusted for a period of time. After that, the external parameters are calibrated again to ensure the accuracy of the operation of the target equipment; of course, the dynamic calibration method can also be used to add the newly added speed variation to obtain the optimized value of the external parameter calibration parameter variable to be optimized .

In this technical solution, after obtaining the speed residual between the target sensors, it is optimized by using the objective function, and after accurate calculation, a high-precision external parameter is obtained, which reduces the error between the target sensors and ensures that the target Accuracy of equipment operation.

According to the technical solution of the embodiment of the present invention, by controlling the target device to perform the external parameter calibration movement operation, the target sensor speed change corresponding to the different target sensors rigidly connected on the target device is determined; according to the target sensor speed change corresponding to different target sensors, To calibrate the external parameters of different target sensors, the technical solution of this application uses the speed changes between different sensors to calibrate the external parameters, which solves the difficulty of external parameter calibration caused by the difficulty of measuring the sensor position, and the possibility that the position measurement is not accurate. The problem of large external parameter calibration error caused by accuracy reduces the difficulty of external parameter calibration between sensors, and at the same time improves the accuracy of external parameter calibration between sensors.

Embodiment three

Fig. 3 is a schematic structural diagram of a sensor external parameter calibration device provided according to Embodiment 3 of the present invention. As shown in Figure 3, the device includes:

The control module 310 is configured to control the target device to perform an extrinsic calibration movement operation.

The velocity variation determining module 320 is configured to determine the velocity variation of the target sensor corresponding to different target sensors on the target device when the extrinsic calibration operation is performed; wherein the different target sensors are mounted on the target device through a rigid connection.

The calibration module 330 is configured to calibrate the external parameters of different target sensors according to the target sensor speed variation corresponding to the different target sensors.

Optionally, the control module is specifically used for:

Control the target device to accelerate and decelerate along the preset shape of the external parameter calibration movement route, and make the speed adjustment frequency of the target device greater than the preset frequency threshold;

Wherein, the speed adjustment includes speed magnitude and/or speed direction; the acceleration/deceleration movement includes fixed acceleration, fixed deceleration, variable acceleration and variable deceleration.

Optionally, the control module contains an operating unit, specifically for:

The load capacity of the target device is adjusted, and the target device adjusted by the load capacity is controlled to move with acceleration and deceleration along a movement route calibrated by external parameters of a preset shape.

Optionally, the velocity variation determination module is specifically used for:

For each target sensor, determine the target sensor data corresponding to the target sensor collected when the target device performs the external parameter calibration movement operation at each collection moment;

According to the target sensor data of the target sensor at each collection moment, determine the target sensor speed variation of the target sensor in the target time interval;

Wherein, each target time interval is determined by the time interval between any two adjacent collection moments selected from each collection moment, and different target time intervals do not overlap in time.

Optionally, the speed change determination module includes a first speed change determination unit, specifically for:

If the target sensor is suitable for speed measurement, then determine the acceleration of the target sensor at each collection time from the target sensor data at each collection time;

According to the acceleration of the target sensor at each acquisition moment and the length of the target time interval, the velocity variation of the target sensor at different target time intervals is calculated.

Optionally, the speed variation determination module includes a second speed variation determination unit, specifically for:

If the target sensor is suitable for position measurement, then determine the sensor position of the target sensor at each collection time from the target sensor data at each collection time;

Calculate the target sensor velocity variation of the target sensor at different target time intervals according to the sensor position of the target sensor at each acquisition moment and the target time interval length;

Optionally, the target sensor data collected at different collection times are collected when the target device moves along a straight line during the extrinsic parameter calibration movement operation.

Optionally, the calibration module is specifically used for:

Use the external parameter calibration parameter variable to be optimized and the target sensor speed change corresponding to the two target sensors in the same target time interval to construct the speed residual between the target sensors; To the same coordinate system, the difference between the speed changes;

The speed residual between target sensors at different target time intervals is optimized, and the optimal value of the external parameter calibration parameters to be optimized is determined.

Optionally, the calibration module includes an optimization unit, which is specifically used for:

The sum of the multiplication results between the speed residuals between the target sensors corresponding to different target time intervals and the transpose of the speed residuals between the target sensors is used as the target function;

Solve the objective function, and determine the value of the external parameter calibration parameter variable to be optimized when the objective function takes the minimum value.

The sensor external parameter calibration device provided in the embodiment of the present invention can execute the above-mentioned sensor external parameter calibration method provided in any embodiment of the present invention, and has the corresponding functions and beneficial effects of performing the sensor external parameter calibration method. For the detailed process, refer to the foregoing Related operations of the sensor external parameter calibration method in the embodiment.

Embodiment Four

Fig. 4 shows a schematic structural diagram of an electronic device that can be used to implement the sensor external parameter calibration method according to the embodiment of the present invention. Electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (eg, helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are by way of example only, and are not intended to limit implementations of the inventions described and/or claimed herein.

As shown in FIG. 4, the electronic device 10 includes at least one processor 11, and a memory connected in communication with the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores There is a computer program executable by at least one processor, and the processor 11 can operate according to a computer program stored in a read-only memory (ROM) 12 or loaded from a storage unit 18 into a random access memory (RAM) 13. Various appropriate actions and processes are performed. In the RAM 13, various programs and data necessary for the operation of the electronic device 10 can also be stored. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to the bus 14 .

Multiple components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices through a computer network such as the Internet and/or various telecommunication networks.

Processor 11 may be various general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), various dedicated artificial intelligence (AI) computing chips, various processors that run machine learning model algorithms, digital signal processing processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes various methods and processes described above, such as a sensor external parameter calibration method.

In some embodiments, the sensor external parameter calibration method can be implemented as a computer program, which is tangibly embodied in a computer-readable storage medium, such as the storage unit 18 . In some embodiments, part or all of the computer program can be loaded and/or installed on the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the sensor external parameter calibration method described above can be performed. Alternatively, in other embodiments, the processor 11 may be configured in any other appropriate way (for example, by means of firmware) to execute the sensor external parameter calibration method.

Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips Implemented in a system of systems (SOC), load programmable logic device (CPLD), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs executable and/or interpreted on a programmable system including at least one programmable processor, the programmable processor Can be special-purpose or general-purpose programmable processor, can receive data and instruction from storage system, at least one input device, and at least one output device, and transmit data and instruction to this storage system, this at least one input device, and this at least one output device an output device.

Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, so that the computer program causes the functions/operations specified in the flowcharts and/or block diagrams to be implemented when executed by the processor. A computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus or device. A computer readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer readable storage medium may be a machine readable signal medium. More specific examples of machine-readable storage media would include one or more wire-based electrical connections, portable computer discs, hard drives, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.

In order to provide interaction with the user, the systems and techniques described herein can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display)) for displaying information to the user. monitor); and a keyboard and pointing device (eg, a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and can be in any form (including Acoustic input, speech input or, tactile input) to receive input from the user.

The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., as a a user computer having a graphical user interface or web browser through which a user can interact with embodiments of the systems and techniques described herein), or including such backend components, middleware components, Or any combination of front-end components in a computing system. The components of the system can be interconnected by any form or medium of digital data communication, eg, a communication network. Examples of communication networks include: local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

A computing system can include clients and servers. Clients and servers are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or a cloud host. It is a host product in the cloud computing service system to solve the problems of difficult management and weak business expansion in traditional physical hosts and VPS services. defect.

It should be understood that steps may be reordered, added or deleted using the various forms of flow shown above. For example, each step described in the present invention may be executed in parallel, sequentially, or in a different order, as long as the desired result of the technical solution of the present invention can be achieved, there is no limitation herein.

The above specific implementation methods do not constitute a limitation to the protection scope of the present invention. It should be apparent to those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made depending on design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (8)

1. A sensor external reference calibration method is characterized in that, the method comprises: Control the target device to perform external parameter calibration motion operation; Determine the target sensor speed variation corresponding to the different target sensors on the target device when performing the external parameter calibration movement operation; wherein the different target sensors are mounted on the target device through a rigid connection; According to the target sensor speed change corresponding to different target sensors, perform external parameter calibration for different target sensors; according to the target sensor speed change corresponding to different target sensors, perform external parameter calibration for different target sensors, including: using the external parameter calibration to be optimized The parameter variable and the target sensor speed variation corresponding to the two target sensors in the same target time interval construct the speed residual between the target sensors; the speed residual is used to describe the conversion of different target sensors to the same coordinate system through external parameters, The difference between the speed changes; optimize the speed residuals between target sensors at different target time intervals, and determine the optimal value of the external parameter calibration parameters to be optimized; among them, the speed residuals between target sensors at different target time intervals The difference function is optimized, including: taking the sum of the multiplication results between the speed residuals between the target sensors corresponding to different target time intervals and the transposition of the speed residuals between the target sensors as the target function; Solving is performed to determine the value of the calibration parameter variable of the external parameter to be optimized when the objective function takes the minimum value. 2. The method according to claim 1, wherein the controlling the target device to perform an extrinsic calibration movement operation comprises: Control the target device to accelerate and decelerate along the preset shape of the external parameter calibration movement route, and make the speed adjustment frequency of the target device greater than the preset frequency threshold; Wherein, the speed adjustment includes speed magnitude and/or speed direction; the acceleration/deceleration movement includes fixed acceleration, fixed deceleration, variable acceleration and variable deceleration. 3. The method according to claim 2, wherein controlling the target device to move with acceleration and deceleration along the preset shape of the extrinsic calibration movement route includes: The load capacity of the target device is adjusted, and the target device adjusted by the load capacity is controlled to move with acceleration and deceleration along a movement route calibrated by external parameters of a preset shape. 4. The method according to claim 1, wherein the determination of the target sensor speed variation corresponding to different target sensors on the target device when performing the extrinsic calibration movement operation comprises: For each target sensor, determine the target sensor data corresponding to the target sensor collected when the target device performs the external parameter calibration movement operation at each collection moment; According to the target sensor data of the target sensor at each collection moment, determine the target sensor speed variation of the target sensor in the target time interval; Wherein, each target time interval is determined by the time interval between any two adjacent collection moments selected from each collection moment, and different target time intervals do not overlap in time. 5. The method according to claim 4, characterized in that, according to the target sensor data of the target sensor at each acquisition moment, determining the target sensor velocity variation of the target sensor at the target time interval comprises: If the target sensor is suitable for speed measurement, then determine the acceleration of the target sensor at each collection time from the target sensor data at each collection time; According to the acceleration of the target sensor at each acquisition moment and the length of the target time interval, the velocity variation of the target sensor at different target time intervals is calculated. 6. The method according to claim 4, wherein, according to the target sensor data of the target sensor at each collection moment, determining the target sensor velocity variation of the target sensor at the target time interval comprises: If the target sensor is suitable for position measurement, then determine the sensor position of the target sensor at each collection time from the target sensor data at each collection time; According to the sensor position of the target sensor at each acquisition moment and the length of the target time interval, the velocity variation of the target sensor at different target time intervals is calculated. 7. A sensor external reference calibration device, characterized in that the device comprises: A control module, configured to control the target device to perform external parameter calibration motion operations; The speed change determination module is used to determine the speed change of the target sensor corresponding to the different target sensors on the target device when the external parameter calibration operation is performed; wherein the different target sensors are mounted on the target device through a rigid connection; The calibration module is used to perform external parameter calibration on different target sensors according to the target sensor speed variation corresponding to different target sensors; to perform external parameter calibration on different target sensors according to the target sensor speed variation corresponding to different target sensors, including: using The parameter variable of the external parameter calibration to be optimized and the target sensor speed change corresponding to the two target sensors in the same target time interval are used to construct the speed residual between the target sensors; the speed residual is used to describe the conversion of different target sensors to Under the same coordinate system, the difference between the speed changes; optimize the speed residual between the target sensors at different target time intervals, and determine the optimized value of the external parameter calibration parameters to be optimized; among them, the target at different target time intervals Optimizing the speed residual function between sensors includes: taking the sum of the multiplication results between the speed residuals between the target sensors corresponding to different target time intervals and the transposition of the speed residuals between the target sensors as the target function; Solve the objective function, and determine the value of the external parameter calibration parameter variable to be optimized when the objective function takes the minimum value. 8. An electronic device, characterized in that the electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, the computer program is executed by the at least one processor, so that the at least one processor can perform any one of claims 1-6 The external parameter calibration method of the sensor.

Images