CN115575931A - Calibration method, calibration device, electronic equipment and storage medium - Google Patents
Calibration method, calibration device, electronic equipment and storage medium Download PDFInfo
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- CN115575931A CN115575931A CN202211203094.3A CN202211203094A CN115575931A CN 115575931 A CN115575931 A CN 115575931A CN 202211203094 A CN202211203094 A CN 202211203094A CN 115575931 A CN115575931 A CN 115575931A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Abstract
The disclosure provides a calibration method, a calibration device, electronic equipment and a storage medium, and relates to the technical field of artificial intelligence, in particular to the technical field of virtual reality, augmented reality and automatic driving. The scheme is as follows: according to the virtual calibration environment corresponding to the target vehicle and vehicle-mounted data information output by the vehicle-mounted sensor model, determining reference pose information of a vehicle-mounted sensor and a virtual calibration scene corresponding to the target vehicle under the reference pose information; fusing vehicle-mounted data information output by the vehicle-mounted sensor model under the reference pose information and the virtual calibration scene to obtain a target fusion image; according to the target fusion image, the reference pose information is calibrated to determine the target pose information of the vehicle-mounted sensor, so that the construction of various calibration scenes can be realized quickly and at low cost, the calibration of the pose information of the vehicle-mounted sensor is realized in a virtual calibration environment, and the calibration efficiency and accuracy of the pose information of the vehicle-mounted sensor are improved.
Description
Technical Field
The present disclosure relates to the field of artificial intelligence technologies, and in particular, to the field of virtual reality, augmented reality, and automatic driving technologies, and in particular, to a calibration method, an apparatus, an electronic device, and a storage medium.
Background
At present, in the running process of a vehicle (such as automatic driving), a plurality of sensors are required to cooperate to complete sensing and positioning of a vehicle body, wherein the premise of using the plurality of sensors to cooperate is that the position and attitude information of a vehicle-mounted sensor (a laser radar and a camera) is known, and the position and attitude information of the vehicle-mounted sensor can be obtained by calibration in advance. Therefore, how to calibrate the pose information of the vehicle-mounted sensor is very important.
Disclosure of Invention
The disclosure provides a calibration method, a calibration device, electronic equipment and a storage medium.
According to an aspect of the present disclosure, there is provided a calibration method, including: respectively simulating a calibration environment where a target vehicle is located and a vehicle-mounted sensor of the target vehicle to obtain a virtual calibration environment and a vehicle-mounted sensor model corresponding to the target vehicle; according to the virtual calibration environment and vehicle-mounted data information output by the vehicle-mounted sensor model, determining reference pose information of the vehicle-mounted sensor and a virtual calibration scene corresponding to the target vehicle under the reference pose information; fusing vehicle-mounted data information output by the vehicle-mounted sensor model under the reference pose information and the virtual calibration scene to obtain a target fusion image; and calibrating the reference pose information according to the target fusion image to determine the target pose information of the vehicle-mounted sensor.
According to another aspect of the present disclosure, there is provided a calibration apparatus including: the simulation module is used for respectively simulating a calibration environment where a target vehicle is located and a vehicle-mounted sensor of the target vehicle to obtain a virtual calibration environment and a vehicle-mounted sensor model corresponding to the target vehicle; the determining module is used for determining reference pose information of the vehicle-mounted sensor and a virtual calibration scene corresponding to the target vehicle under the reference pose information according to the virtual calibration environment and vehicle-mounted data information output by the vehicle-mounted sensor model; the fusion module is used for fusing vehicle-mounted data information output by the vehicle-mounted sensor model under the reference pose information and the virtual calibration scene to obtain a target fusion image; and the calibration module is used for calibrating the reference pose information according to the target fusion image so as to determine the target pose information of the vehicle-mounted sensor.
According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect of the present disclosure.
According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of the first aspect embodiment of the present disclosure.
According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method of an embodiment of the first aspect of the present disclosure.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a schematic diagram according to a first embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a virtual calibration environment according to an embodiment of the present application;
FIG. 3 is a schematic diagram according to a second embodiment of the present disclosure;
FIG. 4 is a schematic diagram according to a third embodiment of the present disclosure;
FIG. 5 is a schematic illustration of a fourth embodiment according to the present disclosure;
FIG. 6 is a schematic diagram according to a fifth embodiment of the present disclosure;
FIG. 7 is a schematic diagram according to a sixth embodiment of the present disclosure;
fig. 8 is a schematic flow chart of a calibration method according to an embodiment of the present disclosure;
FIG. 9 is a schematic diagram according to a seventh embodiment of the present disclosure;
FIG. 10 shows a schematic block diagram of an example electronic device that may be used to implement embodiments of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of embodiments of the present disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
In the related art, after a vehicle is placed in a real calibration site, calibration equipment (such as a calibration plate) is manually lifted or fixed by a support to calibrate the pose information of the vehicle-mounted sensor, and if the design needs to be modified, the calibration equipment needs to be manufactured again, and the pose information of the vehicle-mounted sensor needs to be confirmed again. However, because the real calibration site is limited, some calibration requirements are difficult to realize, and in addition, the calibration equipment has long manufacturing period, is inconvenient to replace, has large manpower consumption and high cost, is greatly influenced by the surrounding environment factors, and has lower calibration efficiency.
Therefore, in order to solve the above problems, the present disclosure provides a calibration method, an apparatus, an electronic device, and a storage medium.
The following describes a calibration method, a calibration apparatus, an electronic device, and a storage medium according to embodiments of the present disclosure with reference to the drawings.
Fig. 1 is a schematic diagram according to a first embodiment of the present disclosure. It should be noted that, the calibration method implemented by the present disclosure is configured in the calibration device for illustration, and the calibration device may be applied to any electronic device, so that the electronic device may perform the calibration function.
The electronic device may be any device with computing capability, for example, a Personal Computer (PC), a mobile terminal, and the like, and the mobile terminal may be a hardware device having various operating systems, touch screens, and/or display screens, such as a mobile phone, a tablet Computer, a Personal digital assistant, and a wearable device.
As shown in fig. 1, the calibration method may include the following steps:
In order to reduce the construction cost of the calibration environment and improve the calibration efficiency of the vehicle-mounted sensor of the vehicle, in the embodiment of the disclosure, the calibration environment in which the target vehicle is located can be simulated to construct a virtual calibration environment corresponding to the target vehicle, and meanwhile, the vehicle-mounted sensor of the target vehicle can be simulated to obtain a vehicle-mounted sensor model.
And 102, determining reference pose information of the vehicle-mounted sensor and a virtual calibration scene corresponding to the target vehicle under the reference pose information according to the virtual calibration environment and vehicle-mounted data information output by the vehicle-mounted sensor model.
Further, as shown in fig. 2, the vehicle-mounted sensor models (the laser radar model and the camera model) are loaded to the specified positions of the target vehicle model, and vehicle-mounted data information output by the vehicle-mounted sensor models is acquired, wherein the vehicle-mounted data information can be used for indicating the pose information of the target vehicle and the image information of the calibration environment where the target vehicle is located. Furthermore, according to the vehicle-mounted data information, the relative pose information between the target vehicle and the corresponding calibration equipment can be determined, further, whether the relative pose information is matched with the set pose information or not can be determined, and when the relative pose information is not matched with the set pose information, the pose information of the vehicle-mounted sensor can be adjusted to obtain the reference pose information of the vehicle-mounted sensor.
Furthermore, the pose information of the vehicle-mounted sensor model in the virtual calibration environment can be adjusted to be the reference pose information according to the reference pose information of the vehicle-mounted sensor, so that vehicle-mounted data information output by the vehicle-mounted sensor model under the reference pose information can be obtained, and a virtual calibration scene corresponding to the target vehicle can be generated according to the target vehicle model, the calibration equipment model and the vehicle-mounted data information corresponding to the reference pose information, wherein the virtual calibration scene can comprise the target vehicle model, the calibration equipment model and the pose information between the target vehicle model and the calibration equipment model corresponding to the reference pose information.
And 103, fusing vehicle-mounted data information output by the vehicle-mounted sensor model under the reference pose information and the virtual calibration scene to obtain a target fusion image.
And further acquiring vehicle-mounted data information output by the vehicle-mounted sensor model under the reference pose information, determining image information of a calibration environment where the target vehicle is located according to the vehicle-mounted data information, and fusing the image information of the calibration environment where the target vehicle is located and the virtual calibration scene to obtain a target fusion image.
And step 104, calibrating the reference pose information according to the target fusion image to determine the target pose information of the vehicle-mounted sensor.
Further, according to the target fusion image, determining the position information of the target object in the target fusion image, taking the reference pose information as the target pose information of the vehicle-mounted sensor when the position information of the target object in the target fusion image is in accordance with the expectation, adjusting the reference pose information of the vehicle-mounted sensor (such as the shooting angle, the shooting direction and the like of a camera) when the position information of the target object in the target fusion image is not in accordance with the expectation, re-determining the target fusion image according to the adjusted reference pose information until the position information of the reference device in the target fusion image is in accordance with the expectation, and taking the pose information of the vehicle-mounted sensor at the moment as the target pose information.
In conclusion, the virtual calibration environment and the vehicle-mounted sensor model corresponding to the target vehicle are obtained by respectively simulating the calibration environment where the target vehicle is located and the vehicle-mounted sensor of the target vehicle; according to the virtual calibration environment and vehicle-mounted data information output by the vehicle-mounted sensor model, determining reference pose information of a vehicle-mounted sensor and a virtual calibration scene corresponding to a target vehicle under the reference pose information; fusing vehicle-mounted data information output by the vehicle-mounted sensor model under the reference pose information and the virtual calibration scene to obtain a target fusion image; calibrating the reference pose information according to the target fusion image to determine the target pose information of the vehicle-mounted sensor, so that the calibration environment of the target vehicle and the vehicle-mounted sensor of the target vehicle are simulated respectively, the construction of various calibration scenes can be realized quickly and at low cost, further, the reference pose information of the vehicle-mounted sensor is determined according to the virtual calibration environment and the vehicle-mounted data information output by the vehicle-mounted sensor model, and the pose information of the vehicle-mounted sensor can be calibrated efficiently in the virtual calibration environment; in addition, vehicle-mounted data information output by the vehicle-mounted sensor model under the reference pose information and the virtual calibration scene are fused to obtain a target fusion image; and calibrating the reference pose information according to the target fusion image, thereby further improving the accuracy of the pose information of the vehicle-mounted sensor.
In order to clearly illustrate how the above embodiments determine the reference pose information of the vehicle-mounted sensor and the virtual calibration scene corresponding to the target vehicle under the reference pose information according to the virtual calibration environment and the vehicle-mounted data information output by the vehicle-mounted sensor model, the present disclosure proposes another calibration method.
Fig. 3 is a schematic diagram according to a second embodiment of the present disclosure.
As shown in fig. 3, the calibration method may include the following steps:
And 302, calibrating the pose information of the vehicle-mounted sensor according to the virtual calibration environment and the vehicle-mounted data information output by the vehicle-mounted sensor model to obtain reference pose information.
As a possible implementation manner of the embodiment of the present disclosure, the relative pose information between the target vehicle and the calibration apparatus indicated by the vehicle-mounted data information may be compared with the set pose information between the target vehicle and the calibration apparatus to determine whether the relative pose information matches the set pose information, when the relative pose information does not match the set pose information, the pose information of the vehicle-mounted sensor is adjusted to match the relative pose information with the set pose information, and when the relative pose information matches the set pose information, the pose information of the vehicle-mounted sensor corresponding to the relative pose information is used as the reference pose information of the vehicle-mounted sensor.
And step 303, determining a virtual calibration scene corresponding to the target vehicle according to the reference pose information.
Furthermore, the position and attitude information of the vehicle-mounted sensor model in the virtual calibration environment can be adjusted according to the reference position and attitude information of the vehicle-mounted sensor, the position and attitude information between the target vehicle model and the calibration equipment model output by the vehicle-mounted sensor model after the position and attitude information adjustment can be obtained, and further the virtual calibration scene corresponding to the target vehicle can be obtained according to the target vehicle model, the calibration equipment model and the position and attitude information between the target vehicle model and the calibration equipment model.
And step 304, fusing vehicle-mounted data information output by the vehicle-mounted sensor model under the reference pose information and the virtual calibration scene to obtain a target fusion image.
And 305, calibrating the reference pose information according to the target fusion image to determine the target pose information of the vehicle-mounted sensor.
It should be noted that the execution processes of step 301 and steps 304 to 305 may be implemented by any one of the embodiments of the present disclosure, and the embodiments of the present disclosure do not limit this and are not described again.
In conclusion, the position and orientation information of the vehicle-mounted sensor is calibrated according to the virtual calibration environment and the vehicle-mounted data information output by the vehicle-mounted sensor model, so that reference position and orientation information is obtained; according to the reference pose information, determining a virtual calibration scene corresponding to the target vehicle, so that the pose information of the vehicle-mounted sensor can be calibrated in a virtual calibration environment, the calibration efficiency of the pose information of the vehicle-mounted sensor is improved, and meanwhile, according to the calibrated reference pose information, the virtual calibration scene corresponding to the target vehicle can be effectively determined, so that the vehicle-mounted data information and the virtual calibration scene are fused to obtain a target fusion image; and calibrating the reference pose information according to the target fusion image, so that the accuracy of the pose information of the vehicle-mounted sensor can be further improved.
In order to more clearly illustrate how the above embodiment determines the reference pose information of the vehicle-mounted sensor and the virtual calibration scene corresponding to the target vehicle under the reference pose information according to the virtual calibration environment and the vehicle-mounted data information output by the vehicle-mounted sensor model, the present disclosure proposes another calibration method.
Fig. 4 is a schematic diagram according to a third embodiment of the present disclosure.
As shown in fig. 4, the calibration method may include the following steps:
In the embodiment of the present disclosure, the vehicle-mounted sensor model may be set at a designated position of the target vehicle model, so that the pose information of the vehicle-mounted sensor model on the target vehicle model may be acquired, and the pose information of the vehicle-mounted sensor model on the target vehicle model may be used as the initial pose information of the vehicle-mounted sensor.
And 403, adjusting the initial pose information of the vehicle-mounted sensor according to the vehicle-mounted data information to obtain the reference pose information of the vehicle-mounted sensor.
In order to accurately determine the reference pose information of the vehicle-mounted sensor, as an example, the relative pose information between the target vehicle and the corresponding calibration equipment is determined according to vehicle-mounted data information; and adjusting the initial pose information of the vehicle-mounted sensor according to the set pose information between the target vehicle and the corresponding calibration equipment and the difference between the relative pose information to obtain the reference pose information of the vehicle-mounted sensor.
In the embodiment of the disclosure, the vehicle-mounted data information may be used to indicate pose information of the target vehicle and pose information of the calibration device, and further, according to the pose information of the target vehicle and the pose information of the calibration device, relative pose information between the target vehicle and the calibration device may be determined, and further, according to a difference between the relative pose information and the corresponding set pose information, initial pose information of the vehicle-mounted sensor is adjusted to obtain reference pose information of the vehicle-mounted sensor, so as to minimize a difference between the relative pose information and the corresponding set pose information. Therefore, the initial pose information of the vehicle-mounted sensor is adjusted according to the vehicle-mounted data information, and the reference pose information of the vehicle-mounted sensor can be accurately determined.
As another example, the virtual calibration environment is three-dimensionally rendered to display the relative pose information between the target vehicle and the corresponding calibration device in the simulation data information; determining reference pose information of the vehicle-mounted sensor in response to a first user operation; wherein the reference pose information is generated from a difference between set pose information and relative pose information between the target vehicle and a corresponding calibration device; and adjusting the initial pose information of the vehicle-mounted sensor according to the reference pose information.
That is, in order to enable the relative pose information between the target vehicle and the corresponding calibration device to be displayed more intuitively, and thus the pose information of the vehicle-mounted sensor can be calibrated more accurately, in the embodiment of the disclosure, the relevant code may be executed to perform three-dimensional rendering on the Virtual calibration environment, for example, rendering into a Virtual Reality (VR) head-mounted display device, a user may determine the set pose information between the target vehicle and the corresponding calibration device and a difference between the relative pose information according to the relative pose information between the target vehicle and the calibration device, so that the user may determine the reference pose information to be adjusted by the vehicle-mounted sensor according to the difference, the user may input the reference pose information to be adjusted by the vehicle-mounted sensor into the calibration device, and thus, the calibration device may adjust the initial pose information of the vehicle-mounted sensor according to the reference pose information input by the user.
And step 404, determining a virtual calibration scene corresponding to the target vehicle according to the reference pose information.
And 405, fusing vehicle-mounted data information output by the vehicle-mounted sensor model under the reference pose information and the virtual calibration scene to obtain a target fusion image.
And 406, calibrating the reference pose information according to the target fusion image to determine the target pose information of the vehicle-mounted sensor.
It should be noted that the execution processes of steps 401 to 402 and steps 404 to 406 may be implemented by any one of the embodiments of the present disclosure, and the embodiments of the present disclosure do not limit this and are not described again.
In conclusion, determining initial pose information of the vehicle-mounted sensor according to the pose information of the vehicle-mounted sensor model on the target vehicle model in the virtual calibration environment; according to the vehicle-mounted data information, the initial pose information of the vehicle-mounted sensor is adjusted to obtain the reference pose information of the vehicle-mounted sensor, so that the reference pose information of the vehicle-mounted sensor is determined according to the virtual calibration environment and the vehicle-mounted data information output by the vehicle-mounted sensor model, and the pose information of the vehicle-mounted sensor can be effectively calibrated in the virtual calibration environment.
In order to clearly illustrate how the initial pose information of the vehicle-mounted sensor is determined according to the pose information of the vehicle-mounted sensor model on the target vehicle model in the virtual calibration environment in the above embodiments, the present disclosure proposes another calibration method.
Fig. 5 is a schematic diagram according to a fourth embodiment of the present disclosure.
As shown in fig. 5, the calibration method may include the following steps:
And 502, loading a vehicle-mounted sensor model on a target vehicle model in the virtual calibration environment, and acquiring pose information of the vehicle-mounted sensor model.
In the embodiment of the disclosure, the relevant codes can be executed, the vehicle-mounted sensor model is loaded on the target vehicle model in the virtual calibration environment, and further, the pose information of the vehicle-mounted sensor model can be determined according to the vehicle-mounted data information output by the vehicle-mounted sensor model.
And 503, taking the pose information of the vehicle-mounted sensor model as the initial pose information of the vehicle-mounted sensor.
Further, the pose information of the vehicle-mounted sensor model can be used as the initial pose information of the vehicle-mounted sensor.
And step 504, adjusting the initial pose information of the vehicle-mounted sensor according to the vehicle-mounted data information to obtain the reference pose information of the vehicle-mounted sensor.
And 505, determining a virtual calibration scene corresponding to the target vehicle according to the reference pose information.
And 507, calibrating the reference pose information according to the target fusion image to determine the target pose information of the vehicle-mounted sensor.
It should be noted that the execution processes of step 501 and steps 504 to 507 may be implemented by any one of the embodiments of the present disclosure, and the embodiments of the present disclosure do not limit this and are not described again.
In conclusion, the pose information of the vehicle-mounted sensor model is acquired by loading the vehicle-mounted sensor model on the target vehicle model in the virtual calibration environment; and the pose information of the vehicle-mounted sensor model on the target vehicle model is used as the initial pose information of the vehicle-mounted sensor, so that the initial pose information of the vehicle-mounted sensor can be effectively determined according to the pose information of the vehicle-mounted sensor model.
In order to clearly illustrate how the above embodiments respectively simulate the calibration environment where the target vehicle is located and the vehicle-mounted sensor of the target vehicle to obtain the virtual calibration environment and the vehicle-mounted sensor model corresponding to the target vehicle, the present disclosure proposes another calibration method.
Fig. 6 is a schematic diagram according to a fifth embodiment of the present disclosure.
As shown in fig. 6, the calibration method may include the following steps:
In order to quickly and inexpensively build various calibration scenes, in the embodiment of the disclosure, any type of target vehicle can be simulated respectively to obtain a target vehicle model corresponding to the target vehicle, and meanwhile, calibration equipment of any size can be simulated to obtain a calibration equipment model, and in addition, a calibration site where the target vehicle is located can be simulated to obtain a calibration environment model.
Further, the relevant codes are executed, and the target vehicle model, the calibration equipment model and the calibration site model can be loaded, so that the virtual calibration environment corresponding to the target vehicle can be generated.
In addition, in order to realize the calibration of the pose information of the vehicle-mounted sensor in the virtual calibration environment, the vehicle-mounted sensor of the target vehicle can be simulated to obtain a vehicle-mounted sensor model, and therefore the vehicle-mounted sensor model can be arranged at the specified position of the target vehicle model to obtain the vehicle-mounted data information output by the vehicle-mounted sensor model.
And step 604, determining reference pose information of the vehicle-mounted sensor and a virtual calibration scene corresponding to the target vehicle under the reference pose information according to the virtual calibration environment and vehicle-mounted data information output by the vehicle-mounted sensor model.
And 605, fusing vehicle-mounted data information output by the vehicle-mounted sensor model under the reference pose information and the virtual calibration scene to obtain a target fusion image.
And 606, calibrating the reference pose information according to the target fusion image to determine the target pose information of the vehicle-mounted sensor.
It should be noted that the execution processes of steps 604 to 606 may be implemented by any one of the embodiments of the present disclosure, and the embodiments of the present disclosure do not limit this and are not described again.
In conclusion, the target vehicle model, the calibration equipment model and the calibration environment model corresponding to the target vehicle are obtained by respectively simulating the target vehicle, the calibration equipment corresponding to the target vehicle and the calibration site where the target vehicle is located; loading a target vehicle model, a calibration equipment model and a calibration site model to generate a virtual calibration environment corresponding to a target vehicle; the vehicle-mounted sensor of the target vehicle is simulated to obtain a vehicle-mounted sensor model, so that the calibration environment of the target vehicle and the vehicle-mounted sensor of the target vehicle are simulated respectively, and the construction of various calibration scenes can be realized quickly and at low cost.
In order to clearly illustrate how the above embodiments calibrate the reference pose information of the vehicle-mounted sensor according to the target fusion image to determine the target pose information of the vehicle-mounted sensor, the present disclosure proposes another calibration method.
Fig. 7 is a schematic diagram according to a sixth embodiment of the present disclosure.
As shown in fig. 7, the calibration method may include the following steps:
And 702, determining reference pose information of the vehicle-mounted sensor and a virtual calibration scene corresponding to the target vehicle under the reference pose information according to the virtual calibration environment and vehicle-mounted data information output by the vehicle-mounted sensor model.
And 703, fusing vehicle-mounted data information corresponding to the target vehicle under the reference pose information and the virtual calibration scene to obtain a target fusion image.
In the embodiment of the present disclosure, a related target detection algorithm or a target detection model may be used to detect the target object in the target fusion image, so as to obtain the position information of the target object. It should be noted that the target detection model may be a trained neural network model, and the corresponding relationship between the target fusion image and the position information of the target object is obtained through learning.
Further, when there is a difference between the position information of the target object and the set position information of the target object, the reference pose information of the vehicle-mounted sensor may be adjusted, and the target fusion image may be re-determined according to the adjusted reference pose information until the difference between the position information of the target object and the set position information of the target object in the target fusion image is minimized, and the pose information of the vehicle-mounted sensor at this time may be used as the target pose information.
In addition, in order to facilitate analysis by related personnel, the target pose information of the vehicle-mounted sensor can be acquired and displayed, and the target pose information of the vehicle-mounted sensor can be stored in response to a second user operation.
It should be noted that the execution processes of steps 701 to 703 may be implemented by any one of the embodiments of the present disclosure, and the embodiments of the present disclosure do not limit this, and are not described again.
In conclusion, the position information of the target object is obtained by detecting the target object in the target fusion image; according to the difference between the position information of the target object and the set position information of the target object, the reference pose information of the vehicle-mounted sensor is adjusted to obtain the target pose information of the vehicle-mounted sensor, and therefore the reference pose information is calibrated according to the target fusion image, and the accuracy of the pose information of the vehicle-mounted sensor can be further improved.
In order to clearly illustrate the above embodiments, an example will now be described.
For example, as shown in fig. 8, fig. 8 is a schematic flow chart of a calibration method provided in the embodiment of the present disclosure.
In fig. 8, the calibration method may include the following steps:
1. loading a scene model: loading a target vehicle model, a calibration site model and a calibration environment model to generate a virtual calibration environment corresponding to a target vehicle;
2. simulation of the vehicle-mounted sensor: simulating a vehicle-mounted sensor of a target vehicle to obtain a vehicle-mounted sensor model, loading the vehicle-mounted sensor model to a specified position of the target vehicle model, and acquiring vehicle-mounted data information output by the vehicle-mounted sensor model;
3. scene rendering: rendering the virtual calibration environment into a VR head display;
4. VR control: the operator can see the pose information between the target vehicle and the calibration equipment really, the operator can compare the pose information between the target vehicle and the calibration equipment with the set pose information between the target vehicle and the calibration equipment to adjust the pose information of the vehicle-mounted sensor to obtain the reference pose information of the vehicle-mounted sensor so as to minimize the difference between the pose information between the target vehicle and the calibration equipment and the corresponding set pose information, and further, the vehicle-mounted data information output by the vehicle-mounted sensor model under the reference pose information is fused with the corresponding virtual calibration scene to obtain a target fusion image, and the reference pose information is calibrated according to the position information of the target object in the target fusion image to obtain the target pose information of the vehicle-mounted sensor.
5. And storing the target pose information of the vehicle-mounted sensor.
According to the calibration method, the calibration environment of the target vehicle and the vehicle-mounted sensor of the target vehicle are respectively simulated to obtain the virtual calibration environment and the vehicle-mounted sensor model corresponding to the target vehicle; according to the virtual calibration environment and vehicle-mounted data information output by the vehicle-mounted sensor model, determining reference pose information of a vehicle-mounted sensor and a virtual calibration scene corresponding to a target vehicle under the reference pose information; fusing vehicle-mounted data information output by the vehicle-mounted sensor model under the reference pose information and the virtual calibration scene to obtain a target fusion image; calibrating the reference pose information according to the target fusion image to determine the target pose information of the vehicle-mounted sensor, so that the construction of various calibration scenes can be quickly realized at low cost by respectively simulating the calibration environment of the target vehicle and the vehicle-mounted sensor of the target vehicle, and further, the reference pose information of the vehicle-mounted sensor is determined according to the virtual calibration environment and the vehicle-mounted data information output by the vehicle-mounted sensor model, so that the pose information of the vehicle-mounted sensor can be efficiently calibrated in the virtual calibration environment; in addition, fusing vehicle-mounted data information and a virtual calibration scene to obtain a target fusion image; and calibrating the reference pose information according to the target fusion image, thereby further improving the accuracy of the pose information of the vehicle-mounted sensor.
In order to implement the above embodiments, the present disclosure provides a calibration apparatus.
Fig. 9 is a schematic diagram according to a seventh embodiment of the present disclosure.
As shown in fig. 9, the calibration apparatus 900 includes: a simulation module 910, a determination module 920, a fusion module 930, and a calibration module 940.
The simulation module 910 is configured to respectively simulate a calibration environment in which a target vehicle is located and a vehicle-mounted sensor of the target vehicle, so as to obtain a virtual calibration environment and a vehicle-mounted sensor model corresponding to the target vehicle; a determining module 920, configured to determine, according to the virtual calibration environment and vehicle-mounted data information output by the vehicle-mounted sensor model, reference pose information of the vehicle-mounted sensor and a virtual calibration scene corresponding to the target vehicle under the reference pose information; a fusion module 930, configured to fuse vehicle-mounted data information output by the vehicle-mounted sensor model under the reference pose information and the virtual calibration scene to obtain a target fusion image; and the calibration module 940 is configured to calibrate the reference pose information according to the target fusion image to determine the target pose information of the vehicle-mounted sensor.
As a possible implementation manner of the embodiment of the present disclosure, the determining module 920 is configured to: calibrating the pose information of the vehicle-mounted sensor according to the virtual calibration environment and the vehicle-mounted data information output by the vehicle-mounted sensor model to obtain reference pose information; and determining a virtual calibration scene corresponding to the target vehicle according to the reference pose information.
As a possible implementation manner of the embodiment of the present disclosure, the determining module 920 is further configured to: determining initial pose information of the vehicle-mounted sensor according to the pose information of the vehicle-mounted sensor model on the target vehicle model in the virtual calibration environment; and adjusting the initial pose information of the vehicle-mounted sensor according to the vehicle-mounted data information to obtain the reference pose information of the vehicle-mounted sensor.
As a possible implementation manner of the embodiment of the present disclosure, the determining module 920 is further configured to: determining relative pose information between the target vehicle and the corresponding calibration equipment according to the vehicle-mounted data information; and adjusting the initial pose information of the vehicle-mounted sensor according to the set pose information between the target vehicle and the corresponding calibration equipment and the difference between the relative pose information to obtain the reference pose information of the vehicle-mounted sensor.
As a possible implementation manner of the embodiment of the present disclosure, the calibration apparatus 900 further includes: a rendering module and an adjusting module.
The rendering module is used for performing three-dimensional rendering on the virtual calibration environment so as to display the relative pose information between the target vehicle and the corresponding calibration equipment in the simulation data information; a determining module 920, configured to determine reference pose information of the vehicle-mounted sensor in response to a first user operation; wherein the reference pose information is generated from a difference between set pose information and relative pose information between the target vehicle and the corresponding calibration device; and the adjusting module is used for adjusting the initial pose information of the vehicle-mounted sensor according to the reference pose information.
As a possible implementation manner of the embodiment of the present disclosure, the determining module 920 is further configured to: loading an on-board sensor model on a target vehicle model in a virtual calibration environment,
acquiring pose information of the vehicle-mounted sensor model on the target vehicle model; and taking the pose information of the vehicle-mounted sensor model on the target vehicle model as the initial pose information of the vehicle-mounted sensor.
As a possible implementation manner of the embodiment of the present disclosure, the simulation module 910 is configured to: respectively simulating the target vehicle, calibration equipment corresponding to the target vehicle and a calibration site where the target vehicle is located to obtain a target vehicle model, a calibration equipment model and a calibration environment model corresponding to the target vehicle; loading a target vehicle model, a calibration equipment model and a calibration site model where a target vehicle is located to generate a virtual calibration environment corresponding to the target vehicle; and simulating the vehicle-mounted sensor of the target vehicle to obtain a vehicle-mounted sensor model.
As a possible implementation manner of the embodiment of the present disclosure, the calibration module 940 is configured to: detecting a target object in the target fusion image to obtain position information of the target object; and adjusting the reference pose information of the vehicle-mounted sensor according to the difference between the position information of the target object and the set position information of the target object to obtain the target pose information of the vehicle-mounted sensor.
As a possible implementation manner of the embodiment of the present disclosure, the calibration apparatus 900 further includes: the device comprises a processing module and a storage module.
The processing module is used for acquiring and displaying target pose information of the vehicle-mounted sensor; and the storage module is used for responding to the second user operation and storing the target pose information of the vehicle-mounted sensor.
According to the calibration device, the calibration environment where the target vehicle is located and the vehicle-mounted sensor of the target vehicle are simulated respectively to obtain the virtual calibration environment and the vehicle-mounted sensor model corresponding to the target vehicle; according to the virtual calibration environment and vehicle-mounted data information output by the vehicle-mounted sensor model, determining reference pose information of a vehicle-mounted sensor and a virtual calibration scene corresponding to a target vehicle under the reference pose information; fusing vehicle-mounted data information output by the vehicle-mounted sensor model under the reference pose information and the virtual calibration scene to obtain a target fusion image; calibrating the reference pose information according to the target fusion image to determine the target pose information of the vehicle-mounted sensor, so that the construction of various calibration scenes can be quickly realized at low cost by respectively simulating the calibration environment of the target vehicle and the vehicle-mounted sensor of the target vehicle, and further, the reference pose information of the vehicle-mounted sensor is determined according to the virtual calibration environment and the vehicle-mounted data information output by the vehicle-mounted sensor model, so that the pose information of the vehicle-mounted sensor can be efficiently calibrated in the virtual calibration environment; in addition, fusing vehicle-mounted data information and a virtual calibration scene to obtain a target fusion image; and calibrating the reference pose information according to the target fusion image, thereby further improving the accuracy of the pose information of the vehicle-mounted sensor.
In the technical scheme of the present disclosure, the processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the personal information of the related user are all performed under the premise of obtaining the consent of the user, and all meet the regulations of the related laws and regulations, and do not violate the good custom of the public order.
In order to implement the above embodiments, the present disclosure also provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the calibration method of the above embodiments.
In order to achieve the above embodiments, the present disclosure also proposes a non-transitory computer readable storage medium storing computer instructions for causing a computer to execute the calibration method described in the above embodiments.
In order to implement the foregoing embodiments, the present disclosure further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the calibration method described in the foregoing embodiments is implemented.
According to embodiments of the present application, an electronic device, a readable storage medium, and a computer program product are also provided.
FIG. 10 illustrates a schematic block diagram of an example electronic device 1000 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 10, the apparatus 1000 includes a computing unit 1001 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 1002 or a computer program loaded from a storage unit 1008 into a Random Access Memory (RAM) 1003. In the RAM 1003, various programs and data necessary for the operation of the device 1000 can be stored. The calculation unit 1001, the ROM 1002, and the RAM 1003 are connected to each other by a bus 1004. An input/output (I/O) interface 1005 is also connected to bus 1004.
A number of components in device 1000 are connected to I/O interface 1005, including: an input unit 1006 such as a keyboard, a mouse, and the like; an output unit 1007 such as various types of displays, speakers, and the like; a storage unit 1008 such as a magnetic disk, an optical disk, or the like; and a communication unit 1009 such as a network card, a modem, a wireless communication transceiver, or the like. The communication unit 1009 allows the device 1000 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, causes the functions/acts specified in the flowchart and/or block diagram to be performed. The program code 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 this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), the Internet, and blockchain networks.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may also be a server of a distributed system, or a server incorporating a blockchain.
It should be noted that artificial intelligence is a subject for studying a computer to simulate some human thinking process and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), and has both hardware-level and software-level technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing, and the like; the artificial intelligence software technology mainly comprises a computer vision technology, a voice recognition technology, a natural language processing technology, machine learning/deep learning, a big data processing technology, a knowledge map technology and the like.
It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (21)
1. A calibration method, comprising:
respectively simulating a calibration environment where a target vehicle is located and a vehicle-mounted sensor of the target vehicle to obtain a virtual calibration environment and a vehicle-mounted sensor model corresponding to the target vehicle;
according to the virtual calibration environment and vehicle-mounted data information output by the vehicle-mounted sensor model, determining reference pose information of the vehicle-mounted sensor and a virtual calibration scene corresponding to the target vehicle under the reference pose information;
fusing vehicle-mounted data information output by the vehicle-mounted sensor model under the reference pose information and the virtual calibration scene to obtain a target fusion image;
and calibrating the reference pose information according to the target fusion image to determine the target pose information of the vehicle-mounted sensor.
2. The method of claim 1, wherein the determining reference pose information of the on-board sensor and a virtual calibration scene corresponding to the target vehicle under the reference pose information according to the virtual calibration environment and on-board data information output by the on-board sensor model comprises:
calibrating the pose information of the vehicle-mounted sensor according to the virtual calibration environment and the vehicle-mounted data information output by the vehicle-mounted sensor model to obtain reference pose information;
and determining a virtual calibration scene corresponding to the target vehicle according to the reference pose information.
3. The method of claim 2, wherein calibrating the pose information of the on-board sensor according to the virtual calibration environment and the on-board data information output by the on-board sensor model to obtain the reference pose information comprises:
determining initial pose information of the vehicle-mounted sensor according to the pose information of the vehicle-mounted sensor model on a target vehicle model in the virtual calibration environment;
and adjusting the initial pose information of the vehicle-mounted sensor according to the vehicle-mounted data information to obtain the reference pose information of the vehicle-mounted sensor.
4. The method of claim 3, wherein the adjusting initial pose information of the on-board sensors to obtain reference pose information of the on-board sensors according to the on-board data information comprises:
determining relative pose information between the target vehicle and corresponding calibration equipment according to the vehicle-mounted data information;
and adjusting the initial pose information of the vehicle-mounted sensor according to the set pose information between the target vehicle and the corresponding calibration equipment and the difference between the relative pose information to obtain the reference pose information of the vehicle-mounted sensor.
5. The method of claim 4, wherein the method further comprises:
three-dimensional rendering is carried out on the virtual calibration environment so as to display the relative pose information between the target vehicle and the corresponding calibration equipment in the simulation data information;
determining reference pose information of the vehicle-mounted sensor in response to a first user operation; wherein the reference pose information is generated from a difference between the set pose information and the relative pose information between the target vehicle and the corresponding calibration device;
and adjusting the initial pose information of the vehicle-mounted sensor according to the reference pose information.
6. The method of claim 3, wherein determining initial pose information of the on-board sensors from pose information of the on-board sensor model on a target vehicle model in the virtual calibration environment comprises:
loading the on-board sensor model on a target vehicle model in the virtual calibration environment,
acquiring pose information of the vehicle-mounted sensor model;
and taking the pose information of the vehicle-mounted sensor model as the initial pose information of the vehicle-mounted sensor.
7. The method of claim 1, wherein the simulating the calibration environment of the target vehicle and the on-board sensor of the target vehicle to obtain the virtual calibration environment and the on-board sensor model corresponding to the target vehicle comprises:
respectively simulating the target vehicle, calibration equipment corresponding to the target vehicle and a calibration site where the target vehicle is located to obtain a target vehicle model, a calibration equipment model and a calibration environment model corresponding to the target vehicle;
loading the target vehicle model, the calibration equipment model and the calibration site model where the target vehicle is located to generate a virtual calibration environment corresponding to the target vehicle;
and simulating the vehicle-mounted sensor of the target vehicle to obtain the vehicle-mounted sensor model.
8. The method of claim 1, wherein the calibrating the reference pose information from the target fusion image to determine target pose information of the on-vehicle sensor comprises:
detecting a target object in the target fusion image to obtain position information of the target object;
and adjusting the reference pose information according to the difference between the position information of the target object and the set position information of the target object to obtain the target pose information of the vehicle-mounted sensor.
9. The method according to any one of claims 1-8, wherein the method further comprises:
acquiring and displaying target pose information of the vehicle-mounted sensor;
and responding to a second user operation, and storing the target pose information of the vehicle-mounted sensor.
10. A calibration device, comprising:
the simulation module is used for respectively simulating a calibration environment where a target vehicle is located and a vehicle-mounted sensor of the target vehicle to obtain a virtual calibration environment and a vehicle-mounted sensor model corresponding to the target vehicle;
the determining module is used for determining reference pose information of the vehicle-mounted sensor and a virtual calibration scene corresponding to the target vehicle under the reference pose information according to the virtual calibration environment and vehicle-mounted data information output by the vehicle-mounted sensor model;
the fusion module is used for fusing vehicle-mounted data information output by the vehicle-mounted sensor model under the reference pose information and the virtual calibration scene to obtain a target fusion image;
and the calibration module is used for calibrating the reference pose information according to the target fusion image so as to determine the target pose information of the vehicle-mounted sensor.
11. The apparatus of claim 10, wherein the means for determining is configured to:
calibrating the pose information of the vehicle-mounted sensor according to the virtual calibration environment and the vehicle-mounted data information output by the vehicle-mounted sensor model to obtain reference pose information;
and determining a virtual calibration scene corresponding to the target vehicle according to the reference pose information.
12. The apparatus of claim 11, wherein the means for determining is further configured to:
determining initial pose information of the vehicle-mounted sensor according to the pose information of the vehicle-mounted sensor model on a target vehicle model in the virtual calibration environment;
and adjusting the initial pose information of the vehicle-mounted sensor according to the vehicle-mounted data information to obtain the reference pose information of the vehicle-mounted sensor.
13. The apparatus of claim 12, wherein the means for determining is further configured to:
determining relative pose information between the target vehicle and corresponding calibration equipment according to the vehicle-mounted data information;
and adjusting the initial pose information of the vehicle-mounted sensor according to the set pose information between the target vehicle and the corresponding calibration equipment and the difference between the relative pose information to obtain the reference pose information of the vehicle-mounted sensor.
14. The apparatus of claim 13, wherein the apparatus further comprises:
the rendering module is used for performing three-dimensional rendering on the virtual calibration environment so as to display the relative pose information between the target vehicle and the corresponding calibration equipment in the simulation data information;
the determination module is further used for responding to a first user operation and determining reference pose information of the vehicle-mounted sensor; wherein the reference pose information is generated from a difference between the set pose information and the relative pose information between the target vehicle and the corresponding calibration device;
and the adjusting module is used for adjusting the initial pose information of the vehicle-mounted sensor according to the reference pose information.
15. The apparatus of claim 12, wherein the means for determining is further configured to:
loading the vehicle-mounted sensor model on a target vehicle model in the virtual calibration environment,
acquiring pose information of the vehicle-mounted sensor model;
and taking the pose information of the vehicle-mounted sensor model on the target vehicle model as the initial pose information of the vehicle-mounted sensor.
16. The apparatus of claim 10, wherein the simulation module is to:
respectively simulating the target vehicle, calibration equipment corresponding to the target vehicle and a calibration site where the target vehicle is located to obtain a target vehicle model, a calibration equipment model and a calibration environment model corresponding to the target vehicle;
loading the target vehicle model, the calibration equipment model and the calibration site model where the target vehicle is located to generate a virtual calibration environment corresponding to the target vehicle;
and simulating the vehicle-mounted sensor of the target vehicle to obtain the vehicle-mounted sensor model.
17. The apparatus of claim 10, wherein the calibration module is to:
detecting a target object in the target fusion image to obtain position information of the target object;
and adjusting the reference pose information of the vehicle-mounted sensor according to the difference between the position information of the target object and the set position information of the target object to obtain the target pose information of the vehicle-mounted sensor.
18. The apparatus of any one of claims 10-17, wherein the apparatus further comprises:
the processing module is used for acquiring and displaying target pose information of the vehicle-mounted sensor;
and the storage module is used for responding to a second user operation and storing the target pose information of the vehicle-mounted sensor.
19. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.
20. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-9.
21. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1-9.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116299374A (en) * | 2023-05-17 | 2023-06-23 | 苏州艾秒科技有限公司 | Sonar imaging underwater automatic calibration positioning method and system based on machine vision |
| CN116299374B (en) * | 2023-05-17 | 2023-08-04 | 苏州艾秒科技有限公司 | Sonar imaging underwater automatic calibration positioning method and system based on machine vision |
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