CN209460399U - A kind of scaling board of laser radar and camera calibrating external parameters - Google Patents
A kind of scaling board of laser radar and camera calibrating external parameters Download PDFInfo
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- CN209460399U CN209460399U CN201920179618.7U CN201920179618U CN209460399U CN 209460399 U CN209460399 U CN 209460399U CN 201920179618 U CN201920179618 U CN 201920179618U CN 209460399 U CN209460399 U CN 209460399U
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- scaling board
- laser radar
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Abstract
The utility model discloses the scaling boards of a kind of laser radar and camera calibrating external parameters, comprising: scaling board substrate and matrix array are in the marker on scaling board substrate；The marker includes chessboard and mark ball.The scaling board substrate is long 1 meter, wide 1 meter of scaling board substrate.For the marker in the arrangement of 3x3 dot matrix on scaling board substrate, marker position spacing is 30 centimetres, and chessboard and mark ball intersect placement.External parameter combined calibrating is carried out to laser radar and camera using the scaling board of the utility model, the common trait point coordinate system informations of laser radar and camera can more accurately be calculated, it is readily applicable to the calibration of camera of camera itself, versatility is stronger, feature is more quasi-, the characteristic point relative position of the scaling board setting of the utility model is accurate, and more conducively the matching of coordinate information, stated accuracy are higher.
Description
Technical field
The utility model belongs to laser radar and camera fusion calibration field, and in particular to outside a kind of laser radar and camera
The scaling board of portion's parameter calibration.
Background technique
With the development of pilotless automobile industry, three-dimensional measurement industry, the measurement sensors such as laser radar and camera hair
Wave very important effect.In order to improve the sensing capability of unmanned technology, the accuracy of three-dimensional measurement technology, production is high
Effect, accurate sensor merge scaling board.
The scaling board of common laser radar and camera data fusion, characteristic point acquisition accuracy is low, characteristic point is few, causes
Final calibration result inaccuracy.By taking the scaling board that Ordnance Engineering College Jia Zi is designed forever as an example (Jia Ziyong, Ren Guoquan, Li Dongwei,
Cheng Ziyang is based on trapezoidal tessellated video camera and laser radar scaling method [J] computer application, 2017,37 (7):
2062-2066.), such as Figure 10.Scanning information of the laser radar on trapezoidal scaling board is mainly utilized, laser radar peace is obtained
The pitch angle and mounting height of dress；Then, camera is made relative to carrier by the black and white chessboard case marker on trapezoidal scaling board
Outer parameter；Secondly, joining in conjunction with the corresponding relationship between laser radar data point and image pixel coordinates to two sensors
Close calibration.Though this scaling board structure is simple, the feature that two kinds of sensors obtain is not corresponding relationship, is needed again
The corresponding relationship for calculating characteristic point, will increase calibrated error.
Utility model content
One purpose of the utility model is to solve at least the above problems and/or defect, and provide and at least will be described later
The advantages of.
In order to realize these purposes and other advantages according to the present utility model, provide outside a kind of laser radar and camera
The scaling board of portion's parameter calibration, comprising:
Scaling board substrate and matrix array are in the marker on scaling board substrate；The marker includes chessboard and mark
Ball.
Preferably, the scaling board substrate is long 1 meter, wide 1 meter of scaling board substrate.
Preferably, the marker is arranged on scaling board substrate in 3x3 dot matrix, and marker position spacing is 30 lis
Rice, and chessboard and mark ball intersect placement.
Preferably, the chessboard number totally five, side length is 25 centimetres, 10 centimetres thick, and the gridiron pattern on chessboard is side
Long 5 centimetres of black and white lattice；Four chessboards in five chessboards are located at four corners of scaling board substrate, a remaining chess
Disk is located at the middle part of scaling board substrate.
Preferably, the mark ball number is four, and radius is 20 centimetres, and four mark balls are located at calibration
The medium position of the side of plate substrate.
Preferably, the mark ball number totally five, radius are 20 centimetres, four marks in five mark balls
Ball is located at four corners of scaling board substrate, and remaining mark ball is located at the middle part of scaling board substrate.
Preferably, the chessboard number is four, and side length is 25 centimetres, 10 centimetres thick, and the gridiron pattern on chessboard is side
Long 5 centimetres of black and white lattice；Four chessboards are located at the medium position of the side of scaling board substrate.
Preferably, the scaling board substrate is white；The mark ball is black；The chessboard is that black and white lattice are alternate
Chessboard.
Preferably, black triangles are provided on a turning of the scaling board substrate.
Preferably, the chessboard and mark ball are respectively adopted 4 bolts and are fixedly connected on scaling board substrate.
The utility model is include at least the following beneficial effects: using the scaling board of the utility model to laser radar and camera
External parameter combined calibrating is carried out, the common trait point coordinate system informations of laser radar and camera can be more accurately calculated,
It can be adapted for the calibration of camera of camera itself, versatility is stronger, and feature is more quasi-, the scaling board setting of the utility model
Characteristic point relative position is accurate, and more conducively the matching of coordinate information, stated accuracy are higher.
The further advantage, target and feature of the utility model will be partially reflected by the following instructions, and part will also pass through
Research and practice to the utility model and be understood by the person skilled in the art.
Detailed description of the invention:
Fig. 1 is the positive structure schematic of the scaling board of the utility model；
Fig. 2 is the side structure schematic diagram of the scaling board of the utility model；
Fig. 3 is the structural schematic diagram of the chessboard mounting hole of the utility model；
Fig. 4 is the chessboard of the utility model and the fixed connection structure schematic diagram of scaling board substrate；
Fig. 5 is the structural schematic diagram of the mark ball mounting hole of the utility model；
Fig. 6 is the fixed connection structure schematic diagram of the mark ball and scaling board substrate of the utility model；
Fig. 7 is the structural schematic diagram of the mounting hole of the scaling board substrate of the utility model；
Fig. 8 is the positive structure schematic of another scaling board of the utility model；
Fig. 9 is the side structure schematic diagram of another scaling board of the utility model；
Figure 10 is the scaling board structural schematic diagram of the prior art.
Specific embodiment:
The following describes the utility model in further detail with reference to the accompanying drawings, to enable those skilled in the art referring to explanation
Book text can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
Fig. 1~2 show the scaling board of a kind of laser radar and camera calibrating external parameters of the utility model, packet
It includes:
Scaling board substrate 1 and matrix array are in the marker 2 on scaling board substrate；The marker includes chessboard 21 and mark
Will ball 22.
In this technical solution, sphere and chessboard are equipped in the matrix array on scaling board substrate.Camera alignment calibration
Plate substrate, the recognizer acquisition mark ball information of design simultaneously calculate centre coordinate information, acquire chessboard information, calculate in chessboard
Heart coordinate.Laser radar acquires mark ball laser data by recognizer, and fitting sphere calculates sphere centre coordinate information, acquisition
Chessboard information is fitted chessboard plane, seeks centre coordinate.In conjunction with the corresponding pass between laser radar coordinate system and camera coordinates
System carries out combined calibrating to two sensors (multi-line laser radar and camera), obtains the external parameter of laser radar and camera,
Complete entire calibration process.
In the above-mentioned technical solutions, the scaling board substrate is long 1 meter, wide 1 meter of scaling board substrate.Using the length and width
Scaling board substrate can obtain more characteristics, keep the sphere fitting to hemisphere more acurrate.
In the above-mentioned technical solutions, the marker is arranged on scaling board substrate in 3x3 dot matrix, marker position spacing
It is 30 centimetres, and chessboard and mark ball intersect placement.
In the above-mentioned technical solutions, as shown in Fig. 1~2, the chessboard number totally five, side length is 25 centimetres, 10 lis thick
Meter, the black and white lattice that the gridiron pattern on chessboard is 5 centimetres of side length；Four chessboards in five chessboards are located at scaling board substrate
Four corners, a remaining chessboard are located at the middle part of scaling board substrate.
In the above-mentioned technical solutions, as shown in Fig. 1~2, the mark ball number is four, and radius is 20 centimetres, four
The mark ball is located at the medium position of the side of scaling board substrate.
In another technical solution, as shown in Fig. 8~9, the mark ball number totally five, radius be 20 centimetres, five
Four mark balls in a mark ball are located at four corners of scaling board substrate, and a remaining mark ball is located at scaling board
The middle part of substrate.
In another technical solution, as shown in Fig. 8~9, the chessboard number is four, and side length is 25 centimetres, thickness 10
Centimetre, the black and white lattice that the gridiron pattern on chessboard is 5 centimetres of side length；Four chessboards are located at the side of scaling board substrate
Medium position.
In the above-mentioned technical solutions, the scaling board substrate is white；The mark ball is black；The chessboard is black and white
The alternate chessboard of lattice.In this way, the high contrast of black and white is convenient for the Threshold segmentation of laser radar and camera.Phase
Machine can identify that the profile of black can accurately seek the accurate centre coordinate of sphere and chessboard, and laser radar passes through fitting
Chessboard plane and fitting token ball spherical surface, calculate separately plane and centre of sphere centre coordinate, as the outer of laser radar and camera
The characteristic point of portion's parametric solution.
In the above-mentioned technical solutions, black triangles 3 are provided on a turning of the scaling board substrate.Using black three
The purpose at angle is the placement direction in order to determine scaling board substrate, i.e., camera can be by the profile of identification black triangles, successively
Determine scaling board direction.
In the above-mentioned technical solutions, as Fig. 3~7, the chessboard and mark ball are respectively adopted 4 bolts and are fixedly connected on
On scaling board substrate, bolt mounting holes are provided on chessboard, mark ball and scaling board substrate.It in this way, can be with
Easily chessboard and mark ball are dismantled.
Using the scaling method of the scaling board of the utility model are as follows:
Step 1: laser radar and camera are fixed on respective mounting rack.Ensure to occur the inclined of any direction
It moves and loosens.Chessboard and sphere are individually fixed in substrate.
Step 2: this scaling board is vertically placed on 5 meters or so of the front of sensor on the basis of step 1
Position, it is ensured that the visual angle for being placed on two kinds of sensors can completely recognize the feature of calibration.It can be with appropriate to scaling board
Position is adjusted, such as is slightly tilted, forward-reverse, is slightly rolled, to obtain more features in different positions.(5
Rice distance: the measurement error of multi-line laser radar error within 5m is 2 centimetres, is greater than measurement error other than 5 meters and is greater than 2 lis
Rice).
Step 3: extracting the scaling board data that multi-line laser radar recognizes, spherome surface and board surface are extracted respectively
Data, the data of all mark sphere and chessboard are fitted to sphere and plane respectively, obtain sphere sphere centre coordinate, radius
And the planar central coordinate of chessboard, plane sizes.
Step 4: similarly, camera recognizes the radius, central coordinate of circle and chessboard planar central coordinate, size of all spheres,
And the placement direction of scaling board.
Step 5: the scaling board placement direction determined by laser radar and camera is advantageous in step 3 and step 4
In the characteristic point for the scaling board being aligned under the same position that two kinds of sensors recognize.
Step 6: after converting the placement location of scaling board by step 2, our available multiple groups laser radars and phase
All characteristic points are carried out co-registration of coordinate systems used, such as SVD, ICP point cloud feature registration method by the characteristic point of machine, available
The parameters such as the external parameter of laser radar and camera, including rotation, translation, scale.
Step 7: completing the calibrating external parameters of scaling board laser radar and camera based on this utility model.
Number of devices and treatment scale described herein are the explanations for simplifying the utility model.To the utility model
Laser radar and the applications of scaling board of camera calibrating external parameters, modifications and variations to one skilled in the art
It is obvious.
It is not only in the description and the implementation although the embodiments of the present invention have been disclosed as above
Listed utilization, it can be applied to various fields suitable for the present invention completely, for those skilled in the art,
Other modifications may be easily implemented, therefore without departing from the general concept defined in the claims and the equivalent scope, this reality
It is not limited to specific details and legend shown and described herein with novel.
Claims (10)
1. the scaling board of a kind of laser radar and camera calibrating external parameters characterized by comprising
Scaling board substrate and matrix array are in the marker on scaling board substrate；The marker includes chessboard and mark ball.
2. the scaling board of laser radar as described in claim 1 and camera calibrating external parameters, which is characterized in that the mark
Fixed board substrate is long 1 meter, wide 1 meter of scaling board substrate.
3. the scaling board of laser radar as described in claim 1 and camera calibrating external parameters, which is characterized in that the mark
Will object is arranged on scaling board substrate in 3x3 dot matrix, and marker position spacing is 30 centimetres, and chessboard and mark ball intersection are put
It sets.
4. the scaling board of laser radar as claimed in claim 3 and camera calibrating external parameters, which is characterized in that the chess
Disk number totally five, side length is 25 centimetres, 10 centimetres thick, the black and white lattice that the gridiron pattern on chessboard is 5 centimetres of side length；Described in five
Four chessboards in chessboard are located at four corners of scaling board substrate, and a remaining chessboard is located at the middle part of scaling board substrate.
5. the scaling board of laser radar as claimed in claim 4 and camera calibrating external parameters, which is characterized in that the mark
Will ball number is four, and radius is 20 centimetres, and four mark balls are located at the medium position of the side of scaling board substrate.
6. the scaling board of laser radar as claimed in claim 3 and camera calibrating external parameters, which is characterized in that the mark
Will ball number totally five, radius is 20 centimetres, and four mark balls in five mark balls are located at four of scaling board substrate
Corner, remaining mark ball are located at the middle part of scaling board substrate.
7. the scaling board of laser radar as claimed in claim 6 and camera calibrating external parameters, which is characterized in that the chess
Disk number is four, and side length is 25 centimetres, 10 centimetres thick, the black and white lattice that the gridiron pattern on chessboard is 5 centimetres of side length；Described in four
Chessboard is located at the medium position of the side of scaling board substrate.
8. the scaling board of laser radar as described in claim 1 and camera calibrating external parameters, which is characterized in that the mark
Fixed board substrate is white；The mark ball is black；The chessboard is the alternate chessboard of black and white lattice.
9. the scaling board of laser radar as described in claim 1 and camera calibrating external parameters, which is characterized in that the mark
Black triangles are provided on one turning of fixed board substrate.
10. the scaling board of laser radar as described in claim 1 and camera calibrating external parameters, which is characterized in that described
Chessboard and mark ball are respectively adopted 4 bolts and are fixedly connected on scaling board substrate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920179618.7U CN209460399U (en) | 2019-02-01 | 2019-02-01 | A kind of scaling board of laser radar and camera calibrating external parameters |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111077506A (en) * | 2019-12-12 | 2020-04-28 | 苏州智加科技有限公司 | Method, device and system for calibrating millimeter wave radar |
| CN111207671A (en) * | 2020-03-03 | 2020-05-29 | 上海御微半导体技术有限公司 | Position calibration method and position calibration device |
| CN111693969A (en) * | 2020-06-16 | 2020-09-22 | 长沙行深智能科技有限公司 | Combined calibration device and method for laser radar and camera |
| CN113237484A (en) * | 2021-04-21 | 2021-08-10 | 四川轻化工大学 | SLAM-based camera and IMU external rotation parameter solving method |
| WO2021209904A1 (en) * | 2020-04-14 | 2021-10-21 | Plusai Limited | Integrated fiducial marker for simultaneously calibrating sensors of different types |
| US11609340B2 (en) | 2020-04-14 | 2023-03-21 | Plusai, Inc. | System and method for GPS based automatic initiation of sensor calibration |
| US11635313B2 (en) | 2020-04-14 | 2023-04-25 | Plusai, Inc. | System and method for simultaneously multiple sensor calibration and transformation matrix computation |
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2019
- 2019-02-01 CN CN201920179618.7U patent/CN209460399U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111077506A (en) * | 2019-12-12 | 2020-04-28 | 苏州智加科技有限公司 | Method, device and system for calibrating millimeter wave radar |
| CN111207671A (en) * | 2020-03-03 | 2020-05-29 | 上海御微半导体技术有限公司 | Position calibration method and position calibration device |
| CN111207671B (en) * | 2020-03-03 | 2022-04-05 | 合肥御微半导体技术有限公司 | Position calibration method and position calibration device |
| WO2021209904A1 (en) * | 2020-04-14 | 2021-10-21 | Plusai Limited | Integrated fiducial marker for simultaneously calibrating sensors of different types |
| US11609340B2 (en) | 2020-04-14 | 2023-03-21 | Plusai, Inc. | System and method for GPS based automatic initiation of sensor calibration |
| US11635313B2 (en) | 2020-04-14 | 2023-04-25 | Plusai, Inc. | System and method for simultaneously multiple sensor calibration and transformation matrix computation |
| US11673567B2 (en) | 2020-04-14 | 2023-06-13 | Plusai, Inc. | Integrated fiducial marker for simultaneously calibrating sensors of different types |
| CN111693969A (en) * | 2020-06-16 | 2020-09-22 | 长沙行深智能科技有限公司 | Combined calibration device and method for laser radar and camera |
| CN113237484A (en) * | 2021-04-21 | 2021-08-10 | 四川轻化工大学 | SLAM-based camera and IMU external rotation parameter solving method |
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