CN213987571U - Calibration body and calibration chamber - Google Patents
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- CN213987571U CN213987571U CN202022519638.XU CN202022519638U CN213987571U CN 213987571 U CN213987571 U CN 213987571U CN 202022519638 U CN202022519638 U CN 202022519638U CN 213987571 U CN213987571 U CN 213987571U
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Abstract
The embodiment of the utility model discloses a calibration body and a calibration chamber, wherein the calibration body is provided with at least three planes, one of which is a calibration surface, and at least two planes are non-calibration surfaces; the calibration surface is intersected with at least two adjacent non-calibration surfaces; the intersection line of the calibration surface and the non-calibration surface is crossed; the calibration surface is provided with an image identifier, and the image identifier is provided with an identification point with a set coordinate. The calibration chamber is a closed chamber, and a calibration body is arranged in the chamber. The calibration body can be suitable for joint calibration among various sensors, has no obvious restriction condition on the calibration process, has high universality, has high robustness when used for calibration, cannot be influenced by distance, and can meet the requirement of remote calibration. The calibration chamber can be used for automatically calibrating the vehicle-mounted sensor fixedly mounted on the vehicle, a calibration body does not need to be manually placed, and the calibration time is reduced.
Description
Technical Field
The embodiment of the utility model provides a relate to the autopilot technique, especially relate to a mark body and mark room.
Background
With the development of the unmanned technology, data collected by various sensors are generally fused for assisting perception, decision, control and the like of a vehicle-mounted automatic driving system.
Because the coordinate systems of various sensors are different, the sensors need to be calibrated in advance before the data of the multiple sensors are fused, and the conversion relation between the coordinate systems of the different sensors, namely a rotation and translation matrix (position transformation matrix), is obtained.
Taking the example of the joint calibration of the laser radar and the camera, in the existing calibration method of the laser radar and the camera, the calibration is mainly performed based on a common camera calibration board (Zhang Zhengyou checkerboard or a two-dimensional code calibration board in open source software), or the calibration is performed on a calibration board with stickers with different reflection intensities. The calibration is carried out based on a common camera calibration plate, the scanning surface of the laser radar is required to be not parallel to the edge of the calibration plate, the error is larger along with the longer the distance between the laser radar and the calibration plate, the calibration plate of the type has certain requirements on the calibration flow, the longer or closer the distance between the laser radar and the calibration plate can influence the calibration precision, and the robustness is poor. And to the calibration board that has the sticker mark, this calibration board preparation is complicated, and applicable scene limitation is great, and the universality is relatively poor.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model discloses mark the body and mark the room, can overcome current calibration plate to the restriction condition of demarcation flow, can solve current calibration plate universality low, mark the problem that the flow is numerous and diverse, the robustness is markd in the influence.
In a first aspect, an embodiment of the present invention provides a calibration body, where the calibration body is provided with at least three planes, one of the planes is a calibration surface, and at least two of the planes are non-calibration surfaces;
the at least two non-calibration surfaces and the calibration surface are intersected on at least two intersection lines, wherein a straight line where one intersection line is located is intersected with a straight line where the other intersection line is located;
the calibration surface is provided with an image identifier, and the image identifier is provided with an identification point with a set coordinate.
Optionally, the image identifier is at least one of a two-dimensional code, a color block, a circular patch, and a character.
Optionally, the calibration surface is a polygon; and at least two sides in the polygon are lines intersected between the calibration surface and at least two non-calibration surfaces.
Optionally, at least some of the image identifiers have different shapes.
Optionally, the shape of the image identifier is a rectangle, and the identifier point is an angular point of the rectangle.
Optionally, the shapes of the image identifiers are the same, and the materials of the image identifiers are different.
Optionally, the shape of the image identifier is a circle, and the identifier point is the center of the circle.
Optionally, the material of the calibration surface is different from that of the non-calibration surface, and the material of the non-calibration surfaces is different.
Optionally, the material includes at least one of metal, glass, asphalt, concrete, and black tape, and the reflection intensities obtained when the different materials are irradiated by the laser radar are different.
Optionally, the included angle between the calibration surface and any non-calibration surface is different.
In a second aspect, the embodiment of the present invention provides a calibration chamber, the calibration chamber is a closed chamber, and a calibration body is disposed in the chamber.
The embodiment of the utility model provides a calibration body and calibration room, the calibration body is provided with at least three planes, wherein one of the planes is a calibration surface, and at least two of the planes are non-calibration surfaces; the at least two non-calibration surfaces and the calibration surface are intersected on at least two intersection lines, wherein a straight line where one intersection line is located is intersected with a straight line where the other intersection line is located; the calibration surface is provided with an image identifier, and the image identifier is provided with an identification point with a set coordinate. The calibration chamber is a closed chamber, and the calibration body is arranged in the chamber. The calibration body is simple to manufacture, can be suitable for combined calibration among various sensors, has no obvious restriction condition on the calibration process, has high universality and good anti-jitter effect, has high robustness when used for calibration, cannot be influenced by distance, and can meet the requirement of remote calibration. The calibration chamber can be used for automatically calibrating the vehicle-mounted sensor fixedly mounted on the vehicle, a calibration body does not need to be manually placed, the calibration flow is saved, and the calibration time is reduced.
Drawings
Fig. 1A is a schematic structural diagram of a calibration body according to an embodiment of the present invention;
fig. 1B is a top view of the calibration body in fig. 1A according to an embodiment of the present invention;
fig. 1C is a schematic structural diagram of a calibration body according to an embodiment of the present invention;
fig. 1D is a schematic layout view of a calibration plane according to an embodiment of the present invention;
fig. 1E is a schematic layout diagram of a calibration plane according to an embodiment of the present invention;
fig. 2A is a schematic structural diagram of a calibration body according to an embodiment of the present invention;
fig. 2B is a schematic structural diagram of a calibration body according to an embodiment of the present invention;
fig. 2C is a schematic layout view of a calibration plane according to an embodiment of the present invention;
fig. 3A is a schematic structural diagram of a calibration body according to an embodiment of the present invention;
fig. 3B is a top view of the calibration body in fig. 3A according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the embodiments of the present invention, the terms "first", "second", "third", and "fourth" are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
The utility model provides a mark the body, should mark the body and can be a great space geometry, can be the confined, also can be non-confined, the utility model discloses it is not injectd in the aspect of this concrete spatial structure who marks the body. The calibration body is provided with at least three planes, wherein one plane is a calibration plane, at least two planes are non-calibration planes, the at least two non-calibration planes and the calibration plane are intersected on at least two intersection lines, a straight line where one intersection line is located is intersected with a straight line where the other intersection line is located, at least one intersection point exists, an image mark is arranged on the calibration plane, and a mark point with a set coordinate is arranged in the image mark.
The surface of the calibration body may be made of the same material, or may be made of two or more different materials, for example, the surface of the calibration body may be a paper product, a metal product, a plastic product, or the like; the surface of the calibration body can also be a combined product of metal and a polymeric material, for example, the surface material of the calibration surface is metal, and the surface material of the non-calibration surface is polymeric material; the surface material of the calibration surface can be a hard board, and the surface materials between different non-calibration surfaces can be different materials, for example, if two non-calibration surfaces are intersected with the calibration surface and have an intersected intersection line, the surface of one non-calibration surface can be an asphalt coating material, and the surface of the other non-calibration surface can be a metal material; the utility model discloses do not inject in the aspect of the concrete material of the body to this demarcation, and to the concrete material of calibration face and non-calibration face the same or different not inject all.
The utility model discloses in, the plane of calibration face for being provided with the image sign in the calibration body, the position of image sign in the calibration face is unset, and the quantity of image sign is unset. The utility model discloses do not do any restriction in the aspect of the position overall arrangement to quantity, the image sign of image sign in the calibration face. It can be understood that the image identifier is convenient for the sensor to accurately position itself when calibrated according to the calibration body, the image identifier may be a feature region in the calibration plane for positioning reference, the identifier point in the image identifier may be any most representative feature point in the feature region, and the outline of the image identifier may have any reasonable shape, for example, the outline of the image identifier may be a square, a circle, a rectangle, a triangle, a pentagon, a sector, and the like. The utility model discloses do not do any restriction in the aspect of the concrete shape of the outline to the image sign.
The utility model discloses an embodiment, the image sign can be the sign that has the differentiation effect wantonly in the calibration face, for example, the image sign can include but not limited to two-dimensional code, color lump, circular paster, character, line characteristic etc. can understand, the utility model discloses it is not restricted to the concrete type aspect of image sign (the utility model discloses an in the embodiment, mainly adopt the image sign of two-dimensional code type to exemplify).
The utility model discloses an embodiment, the calibration face can be the polygon, there are two at least limits in this polygon to be the crossing line between calibration face and two at least non-calibration faces, can understand, this polygon is closed figure, each limit of polygon is the border of calibration face, every limit of this polygon can equal, also can the inequality, this polygon can be regular polygon promptly, also can be irregular polygon, for example, this calibration face and non-calibration face can be isosceles triangle, rectangle, inequality pentagon, rhombus, etc., this embodiment is not restricted in the aspect of the concrete shape of calibration face.
Referring to fig. 1A, fig. 1A is a schematic structural diagram of a calibration body according to an exemplary embodiment.
As shown in fig. 1A, the calibration body includes five planes, one plane is a calibration plane 110, the other four planes intersecting the calibration plane 110 and adjacent to the calibration plane 110 are non-calibration planes, each two adjacent non-calibration planes intersect, in fig. 1A, an intersection line of an intersection of a non-calibration plane 120 and the calibration plane 110 is FG, an intersection line of an intersection of a non-calibration plane 130 and the calibration plane 110 is EF, and fig. 1B is a top view of fig. 1A. as can be seen from fig. 1B, the calibration plane 110 and the four non-calibration planes intersect, and adjacent intersection lines intersect to form four vertices E, F, G, H of the calibration plane 110, the calibration plane 110 is provided with a plurality of image markers, the types of the image markers are two-dimensional codes, each image marker has a square outline, the two-dimensional code patterns on each image marker are different, for example, the two-dimensional code patterns in the image markers 111, the image markers 112 and the image markers 113 are different, for example, the identification point 101 may be one angular point in the image identifier 113 on the calibration surface 110, the calibration surface 110 has a plurality of identification points, and taking fig. 1B as an example, sixteen image identifiers are in the calibration surface 110, and each image identifier has four identification points, so that sixty-four identification points are in total in the calibration surface 110.
It is understood that, in an embodiment of the present invention, the shape of the image identifier may be a square or a rectangle, and the identifier point may be a corner point of the square or the rectangle.
In a specific implementation manner of this embodiment, the shapes of the image identifiers set on the calibration surface may be the same, but the material of each image identifier may be different, so that when the sensor performs data acquisition on the calibration surface, some useful information may be obtained from the material of the image identifier, for example, when the laser radar acquires point cloud data, when the laser emission signal detects objects of different materials, the reflection signal received back by the laser radar may contain reflection intensity corresponding to the material, and the reflection intensity may be recorded in the point cloud data, and at this time, different reflection intensities are used, so that different objects represented by the point cloud data may be distinguished.
In one example of the embodiment, the shape of the image marker may be a circle, and the marker point may be the center of the circle.
Referring to fig. 1C, fig. 1C shows a calibration body having the same structure as that of fig. 1A, as shown in fig. 1C, image marks represented by a plurality of circular patches are arranged on the calibration surface, the diameters of the graphic patches are the same, the graphic patches are distributed on the calibration surface in a centrosymmetric manner, the image marks are not overlapped, and the mark point is the center of the circular patch. It can be understood that the calibration surface in this embodiment may have at least some of the image marks with different shapes, and for the image marks represented by circular patches, the size and diameter of each circular patch may be different, as shown in fig. 1D, where fig. 1D is a schematic diagram of a calibration surface with circular patches as image marks.
In this embodiment, the distribution among the plurality of image identifiers may be array arrangement, symmetric distribution, or unordered arrangement, and only two image identifiers need to be independent from each other and not overlapped.
In an optional implementation manner, two types of image markers with fixed area sizes are arranged on the calibration surface, one type is a first image marker represented by an ArUco code (also belonging to one type of two-dimensional codes), the other type is a second image marker represented by a color block, the shape of the first image marker is the same as that of the second image marker, and the area of the first image marker is smaller than that of the second image marker. As shown in fig. 1E, fig. 1E is a schematic diagram of a calibration surface using ArUco codes and color blocks as image markers, wherein the first image markers 116 and the second image markers 117 are alternately distributed in the calibration surface.
The utility model discloses in, 2A-2B are according to the structure schematic diagram of a demarcation body that an exemplary embodiment shows, wherein, in the demarcation body that figure 2A and figure 2B represented, the type of the image sign that sets up on the calibration face includes two-dimensional code and color lump, can understand, in this embodiment, the image sign also can be the combination of arbitrary two kinds of types such as character and color lump, circular paster and two-dimensional code, character and circular paster, can also be the combination of two kinds above types such as circular paster, two-dimensional code and character, in the utility model discloses a in the demarcation body, be provided with a plurality of image signs on its calibration face, the type of every image sign, shape can be not only, do not restrict in the aspect of the total amount of this embodiment to image sign type combination.
As shown in fig. 2A, the calibration body includes five planes, one plane is a calibration plane 210, the other four planes intersecting the calibration plane 210 and adjacent to the calibration plane are non-calibration planes, every two adjacent non-calibration planes intersect, the intersection line of the calibration plane 210 and the non-calibration plane intersects, the calibration plane 210 is provided with a plurality of image marks, such as image markers 211 represented in a two-dimensional code, image markers 212 represented in color patches, wherein, the image marks 212 represented by color blocks and the image marks 211 represented by two-dimensional codes are arranged in the calibration surface 210 according to an array, each image mark 211 represented by two-dimensional codes is adjacent to four image marks 212 represented by color blocks and the vertexes of the image marks are intersected (also called as angular points), the mark point 201 in the calibration surface 210 is the intersection point of the connection of the vertexes between the image marks 211 and the image marks 212, it is understood that when the image marker is rectangular or square, four corner points of each image marker 211 represented by the two-dimensional code are the marker points 201. In this embodiment, the specific pattern portion of the two-dimensional code is not limited, and the two-dimensional code patterns of the image identifiers 211 represented by the two-dimensional codes may be the same or different.
In a calibration surface as shown in fig. 2B, the number of image markers represented by color blocks is greater than the number of image markers represented by two-dimensional codes, and the marker points 205 are corner points where vertices are connected between the image markers represented by the two-dimensional codes and the image markers represented by the color blocks.
In a calibration surface as shown in fig. 2C, the image markers are all of color block types, the image markers represented by the color blocks are distributed in the calibration surface in a non-centrosymmetric manner, the image markers are distributed more densely on one side of the calibration surface, and are distributed sparsely on the other side of the calibration surface.
In an embodiment of the present invention, the material of the calibration surface is different from the material of the non-calibration surface, and the material between the non-calibration surfaces is different. The material comprises at least one of metal, glass, asphalt, concrete and black adhesive tape, and the reflection intensities obtained when different materials are irradiated by the laser radar are different.
In this embodiment, referring to the calibration body shown in fig. 1A and 1B, the material of the calibration surface of the calibration body is different from the material of any non-calibration surface, and the materials of the non-calibration surfaces are also different from each other. The description will be given by taking the case that the laser radar uses the calibration body for calibration: acquiring the reflection intensity of point cloud data irradiated on a calibration body by a laser radar, calculating a numerical relation corresponding to the material of the calibration surface and the reflection intensity of the point cloud data as a first numerical relation, wherein the first numerical relation is a matching relation between the material of the calibration surface and the reflection intensity, and dividing the point cloud data corresponding to the calibration surface from the point cloud data according to the first numerical relation to serve as first target point cloud data; and calculating a numerical relation corresponding to the material of the non-calibration surface and the reflection intensity of the point cloud data as a second numerical relation, wherein the second numerical relation is a matching relation between the material of the non-calibration surface and the reflection intensity, and dividing the point cloud data corresponding to the non-calibration surface from the point cloud data according to the second numerical relation to serve as second target point cloud data. Because the calibration body is designed by adopting different surface materials to manufacture each non-calibration surface and the calibration surface, the reflection intensity of each plane and the point cloud data can determine the unique corresponding numerical relationship, and the point cloud data corresponding to different non-calibration surfaces and calibration surfaces can be divided from the point cloud data irradiated on the calibration body by the laser radar based on a plurality of different numerical relationships. After second target point cloud data representing each non-calibration surface and first target point cloud data representing the calibration surface are obtained, different point cloud data with the intersection relationship between the calibration surface and the non-calibration surface can be further obtained by utilizing the intersection relationship between the calibration surface and the non-calibration surface. The calibration process has no limit on the distance, and the calibration robustness cannot be influenced even if the distance is too large.
In another embodiment of the present invention, the angle between the calibration surface and any non-calibration surface is different.
Referring to the calibration body shown in fig. 3A, the three-dimensional structure of the calibration body is similar to that of the calibration body shown in fig. 1A, but the included angle between the calibration surface and any non-calibration surface in fig. 3A is different. The calibration body comprises five planes, one plane is a calibration plane 310, the other four planes intersecting the calibration plane 310 and adjacent to the calibration plane 310 are non-calibration planes, every two adjacent non-calibration planes intersect, in fig. 3A, the intersection line of the non-calibration plane 320 intersecting the calibration plane 310 is AD, the intersection line of the non-calibration plane 330 intersecting the calibration plane 310 is AB, fig. 3B is a top view of fig. 3A, as can be seen from fig. 3B, the calibration plane 310 intersects with the four non-calibration planes, and the adjacent intersection lines intersect to form four vertexes A, B, C, D of the calibration plane 310, the calibration plane 310 is provided with a plurality of image markers, the types of the image markers are two-dimensional codes, the outline of each image marker is a rectangle, the two-dimensional code patterns on each image marker are different, and the included angles between the calibration plane 310 and any non-calibration plane are different, as shown in fig. 3A, for example, the included angles 321, between the calibration plane 310 and the non-calibration plane 320 are different, The included angle 331 is different from the nominal 310 and non-nominal 330 surfaces.
In this embodiment, a case where the laser radar performs calibration using the calibration body is described as an example: determining a first included angle between a calibration surface and each non-calibration surface in the calibration body, and performing multiple plane fitting on point cloud data acquired by irradiating the calibration body with a laser radar to obtain a plurality of point cloud data representing the non-calibration surfaces and the calibration surface, wherein the point cloud data are all used as target reference point cloud data; the method comprises the steps that initially acquired point cloud data are disordered and disordered, the initially acquired point cloud data can only be divided into a plurality of point cloud data (namely target reference point cloud data) representing planes through fitting, in order to further distinguish the target reference point cloud data obtained after fitting, a second included angle between the target reference point cloud data is calculated, second included angles between different target reference point cloud data are recorded, the target reference point cloud data matched with each first included angle are respectively searched in the second included angles, and second target point cloud data representing different non-standard surfaces are obtained; and removing all second target point cloud data from the target reference point cloud data to obtain first target point cloud data representing the calibration surface. After second target point cloud data representing each non-calibration surface and first target point cloud data representing the calibration surface are obtained, a coordinate conversion relation between the calibration surface in the calibration body and a laser radar coordinate system can be further constructed by utilizing an intersection relation between the calibration surface and the non-calibration surface, and the three-dimensional space coordinate position of the calibration body under the laser radar coordinate system is determined, so that the laser radar finishes calibration. The calibration process has no limit on the distance, and the calibration robustness cannot be influenced even if the distance is too large.
The embodiment of the utility model provides a calibration body, which is provided with at least three planes, wherein one plane is a calibration surface, and at least two planes are non-calibration surfaces; the at least two non-calibration surfaces and the calibration surface are intersected at least two intersection lines, wherein a straight line where one intersection line is located is intersected with a straight line where the other intersection line is located; the calibration surface is provided with an image identifier, and the image identifier is provided with an identification point with a set coordinate. The calibration body can be suitable for joint calibration among various sensors, has no obvious restriction condition on the calibration process, has high universality, has high robustness when used for calibration, cannot be influenced by distance, and can meet the requirement of remote calibration.
The utility model discloses an on the other hand, including a calibration chamber, this calibration chamber is inclosed cavity, is provided with the calibration body in the cavity.
In a preferred embodiment, each side wall of the chamber is provided with a different calibration body, one of which is provided with an access opening through which the vehicle passes.
Wherein, the demarcation body of indoor setting of demarcation can be the utility model discloses the demarcation body that any embodiment of the usefulness provided, each lateral wall that should mark indoor can be provided with single demarcation body, also can be provided with the demarcation body of a plurality of differences, the utility model discloses do not injecing in the aspect of the body quantity of demarcation indoor demarcation of demarcation.
The embodiment of the utility model provides an in, mark indoor the demarcation body that is provided with a plurality of differences, the demarcation body that marks that indoor every lateral wall set up all is different with the demarcation body that other lateral walls set up, the different demarcation body can be every material of demarcating the body surface all different, make every reflection intensity of demarcating the body different, also can be every size of demarcating the body all different, can also be every inclination of demarcating the body all different, this inclination can be based on every demarcation body in the contained angle between demarcation face and the non-demarcation face distinguish, the utility model discloses do not injectd in the aspect of the differentiation of demarcating the body.
The utility model discloses in the room of demarcation that provides can be used to carry out automatic calibration to fixed mounting's on-vehicle sensor on the vehicle, need not the manual work and put the demarcation body, can practice thrift and mark the flow, reduce the calibration time.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (11)
1. The calibration body is characterized in that the calibration body is provided with at least three planes, wherein one plane is a calibration plane, and at least two planes are non-calibration planes;
the at least two non-calibration surfaces and the calibration surface are intersected on at least two intersection lines, wherein a straight line where one intersection line is located is intersected with a straight line where the other intersection line is located;
the calibration surface is provided with an image identifier, and the image identifier is provided with an identification point with a set coordinate.
2. The calibration body according to claim 1, wherein the image identifier is at least one of a two-dimensional code, a color block, a circular patch, and a character.
3. The calibration body according to claim 1, wherein the calibration face is a polygon; and at least two sides in the polygon are lines intersected between the calibration surface and at least two non-calibration surfaces.
4. The calibration body according to claim 2, wherein at least some of the image markers have different shapes.
5. The calibration body according to claim 4, wherein the shape of the image marker is a rectangle, and the marker points are corner points of the rectangle.
6. The calibration body according to claim 2, wherein the image markers have the same shape and are made of different materials.
7. The calibration body according to claim 6, wherein the shape of the image marker is a circle, and the marker point is a center of the circle.
8. The calibration body according to any one of claims 1 to 7, wherein the calibration surface is made of a different material than the non-calibration surfaces, and the non-calibration surfaces are made of different materials.
9. The calibration body according to claim 8, wherein the material includes any one of metal, glass, asphalt, concrete, and black tape, and the reflection intensities obtained when different materials are irradiated by the laser radar are different.
10. The calibration body according to any one of claims 1 to 7, wherein the angle between the calibration surface and any one of the non-calibration surfaces is different.
11. Calibration chamber, characterized in that the calibration chamber is a closed chamber, and the calibration body as claimed in any one of claims 1-10 is arranged in the chamber.
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| CN202022519638.XU CN213987571U (en) | 2020-11-04 | 2020-11-04 | Calibration body and calibration chamber |
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| CN202022519638.XU CN213987571U (en) | 2020-11-04 | 2020-11-04 | Calibration body and calibration chamber |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113884104A (en) * | 2021-09-27 | 2022-01-04 | 苏州挚途科技有限公司 | Multi-sensor combined calibration method and device and electronic equipment |
| CN116883515A (en) * | 2023-09-06 | 2023-10-13 | 菲特（天津）检测技术有限公司 | Optical environment adjusting method and optical calibration device |
-
2020
- 2020-11-04 CN CN202022519638.XU patent/CN213987571U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113884104A (en) * | 2021-09-27 | 2022-01-04 | 苏州挚途科技有限公司 | Multi-sensor combined calibration method and device and electronic equipment |
| CN113884104B (en) * | 2021-09-27 | 2024-02-02 | 苏州挚途科技有限公司 | Multi-sensor joint calibration method and device and electronic equipment |
| CN116883515A (en) * | 2023-09-06 | 2023-10-13 | 菲特（天津）检测技术有限公司 | Optical environment adjusting method and optical calibration device |
| CN116883515B (en) * | 2023-09-06 | 2024-01-16 | 菲特（天津）检测技术有限公司 | Optical environment adjusting method and optical calibration device |
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