CN215449579U - Calibration verification assembly and system - Google Patents
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- CN215449579U CN215449579U CN202121580763.XU CN202121580763U CN215449579U CN 215449579 U CN215449579 U CN 215449579U CN 202121580763 U CN202121580763 U CN 202121580763U CN 215449579 U CN215449579 U CN 215449579U
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Abstract
The application relates to a calibration verification assembly and a calibration verification system, belongs to the technical field of sensors, and can be applied to intelligent automobiles in the field of automatic driving. The calibration verification assembly comprises a first detector (1), a second detector (2) and a bracket (3); the first detection object (1) and the second detection object (2) are respectively objects for detection by different types of sensors (7); the first detection object (1) and the second detection object (2) are respectively arranged on the bracket (3). In the embodiment disclosed by the application, the first detection object (1) or the second detection object (2) can be accurately identified by at least one sensor (7), so that the situation that the identification accuracy of different types of sensors (7) to the same target reference object in the prior art is greatly different is avoided, and the calibration verification accuracy is improved.
Description
Technical Field
The application relates to the technical field of sensors, in particular to a calibration verification assembly and a calibration verification system.
Background
With the development of social economy, automobiles become necessities in daily life of people, and the occurrence of the automatic driving function reduces the traffic accident rate and relieves traffic pressure. Vehicles with an autopilot function are generally provided with various sensors, such as a laser radar, a camera, a millimeter wave radar, and the like. In the running process of the vehicle, the sensor collects environmental information and sends the environmental information to the vehicle-mounted terminal, and the vehicle-mounted terminal controls the vehicle based on the environmental information.
These sensors, which are located on a vehicle with autopilot functionality, are typically calibrated prior to use. The calibration refers to transferring the measurement data of a certain sensor in a coordinate system to another sensor coordinate system through a state transfer function, and the calibration precision influences the control precision of automatic driving. At present, the calibration verification method mainly selects a target reference object, such as a vehicle, a sign, a tree, an obstacle ball, and the like, in an actual scene, and verifies the accuracy of the calibration result through the position deviation of the target reference object captured by different types of sensors.
The current verification method depends on the recognition precision of different types of sensors to the target reference object in the actual scene, and the verification precision of the calibration result can be ensured only when the target reference object is accurately recognized. However, the recognition accuracy of different types of sensors on the same target reference object usually has large difference, which will seriously affect the verification accuracy of the calibration result. For example, when the target reference object is a barrier ball with a smooth surface, the camera can accurately identify the target reference object, but the identification capability of the laser radar and the millimeter wave radar is not high, and the calibration verification result is not accurate.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application provides a calibration verification component and a calibration verification system, which can solve the technical problems in the related technology, and the technical scheme of the calibration verification component, the calibration verification system and the calibration verification method is as follows:
in a first aspect, an embodiment of the present application provides a calibration verification assembly, which is composed of a first detector 1, a second detector 2, and a bracket 3, where the first detector 1 and the second detector 2 are respectively installed on the bracket 3, and the first detector 1 and the second detector 2 are respectively objects for different types of sensors 7 to detect.
In one possible implementation, the first detector 1 is a diffuse reflector and the second detector 2 is a corner reflector.
In one possible implementation, the first test object 1 of the calibration verification assembly is spherical in shape.
In a possible implementation manner, the calibration verification assembly further includes a pan-tilt 4, and the pan-tilt 4 is composed of a fixed member 41 and a movable member 42. The fixed member 41 is fixedly connected to the bracket 3, and the movable member 42 is provided with a first detection object 1 and a second detection object 2.
In one possible implementation, the calibration verification assembly further includes a first mounting rod 5 and a second mounting rod 6. Wherein, one end of the first mounting rod 5 is fixedly connected with the movable piece 41, and the other end is provided with the first detection object 1; one end of the second mounting rod 6 is fixedly connected to the movable member 41, and the other end is mounted with the second detection object 2. The detection point of the first object 1, the detection point of the second object 2, the axis of the first mounting rod 5, and the axis of the second mounting rod 6 are on the same straight line.
In a possible implementation manner, the pan/tilt head 4 of the calibration verification assembly further includes a balancing instrument 43, and the balancing instrument 43 is fixedly connected with the movable member 41 of the pan/tilt head 4. The detection plane of the balancer 43 is perpendicular to a straight line on which the detection point of the first test object 1, the detection point of the second test object 2, the axis of the first mounting rod 5, and the axis of the second mounting rod 6 are located.
In a possible implementation manner, the second mounting rod 6 of the calibration verification assembly is provided with a sliding groove 61 and a sliding seat 62, and the sliding seat 62 is mounted in the sliding groove 61. The second object 2 is mounted on the slide base 62, and the slide locus of the detection point of the second object 2 is on the axis of the second mounting rod 6.
In a possible implementation manner, the outer wall of the second mounting rod 6 of the calibration verification assembly has a plurality of scale marks arranged axially and a scale value corresponding to each scale mark. The scale value corresponding to the scale mark is the distance between the point corresponding to the scale mark on the axis of the second mounting rod 6 and the detection point of the first detection object 1.
In a possible implementation, the stand 3 of the calibration verification assembly may be a tripod.
In a second aspect, the present embodiment further provides a calibration verification system, which includes the target device 10, the calibration verification device 20, and the calibration verification component 30 as described in the first aspect and its possible implementation manners. Wherein, target device 10 is installed with multiple types of sensors 7, calibration verification component 30 is located in the detection area of multiple types of sensors 7, and multiple types of sensors 7 and calibration verification device 20 establish communication connection.
The technical scheme provided by the embodiment of the application at least comprises the following beneficial effects:
the calibration verification assembly provided by the embodiment of the application comprises a first detection object 1 and a second detection object 2 for detection of different types of sensors 7. For verification of calibration of the first type sensor 7 to the second type sensor 7, a detection object that can be accurately detected by the first type sensor 7 and a detection object that can be accurately detected by the second type sensor 7 may be employed as the first detection object 1 and the second detection object 2. Therefore, the two sensors have higher detection precision for corresponding detection objects, and the condition that the identification precision of the sensors 7 of different types for the same target reference object has larger difference is avoided, so that the calibration verification precision is ensured.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a calibration verification assembly according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a single-corner type corner reflector according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an octagonal corner reflector according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a spherical diffuse reflector according to an embodiment of the present disclosure;
FIG. 5 is a schematic structural diagram illustrating a calibration verification assembly according to an embodiment of the present application;
FIG. 6 is a schematic structural diagram illustrating a calibration verification assembly according to an embodiment of the present application;
FIG. 7 is a schematic structural diagram illustrating a calibration verification assembly according to an embodiment of the present application;
FIG. 8 is a schematic structural diagram illustrating a calibration verification assembly according to an embodiment of the present application;
FIG. 9 is a schematic structural diagram illustrating a calibration verification assembly according to an embodiment of the present application;
FIG. 10 is a schematic structural diagram illustrating a calibration verification assembly according to an embodiment of the present application;
FIG. 11 is a schematic structural diagram of a calibration verification system according to an embodiment of the present application;
fig. 12 is a flowchart illustrating a calibration verification method according to an embodiment of the present application.
Description of the figures
1. A first detector; 2. a second detector; 3. a support; 4. a holder; 41. a fixing member; 42. a movable member; 43. a balancing instrument; 5. a first mounting bar; 6. a second mounting bar; 61. a chute; 62. a slide base; 7. a sensor; 71. a first sensor; 72. a second sensor; 73. a third sensor; 10. a target device; 20. calibrating verification equipment; 30. and calibrating the verification component.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The embodiment of the application provides a calibration verification component, which is a detection object assembly for calibration verification and can comprise a plurality of detection objects. On the basis of the calibration verification component, the embodiment of the application further provides a calibration verification system, which is used for executing the processing of calibration verification. On the basis of the calibration verification system, the embodiment of the application also provides a calibration verification method. The calibration verification component, the calibration verification system and the calibration verification method will be described below one by one.
Calibration verification assembly
The embodiment of the application provides a calibration verification assembly, as shown in fig. 1, which includes a first detector 1, a second detector 2 and a bracket 3. Here, the first detection object 1 and the second detection object 2 are objects for detection by different types of sensors 7, respectively. The first detection object 1 and the second detection object 2 are respectively mounted on the holder 3.
The first detector 1 and the bracket 3 may be directly connected by means of screw connection, welding, clamping, or the like, or the first detector 1 and the bracket 3 may be indirectly connected by means of an intermediate connecting member, which may be a connecting rod, a rope, a chain, or the like. The second detector 2 and the bracket 3 can be directly connected through threads, welding, clamping and the like, or the second detector 2 and the bracket 3 can be indirectly connected through an intermediate connecting piece, wherein the intermediate connecting piece can be a connecting rod, a rope, a chain and the like.
The first analyte 1 may be attached in the same manner as the second analyte 2, or may be attached in a different manner. For example, the first detecting object 1 is connected with the bracket 3 through a connecting rod, the second detecting object 2 is directly welded on the bracket 3, for example, the first detecting object 1 and the second detecting object 2 are fixedly connected with the bracket 3 through a connecting rod, and for example, the first detecting object 1 and the second detecting object 2 are fixedly connected with the bracket 3 through a threaded connection mode.
The second detection object 2 is a corner reflector, and is used for detecting the millimeter-wave radar. After an electromagnetic wave signal sent by the millimeter wave radar is reflected by the corner reflector, a stronger echo signal can be generated, and the identification capability of the millimeter wave radar on the corner reflector is enhanced by the echo signal. The corner reflectors are classified into various types such as a single-corner type, a four-corner type, a hexagonal type, an octagonal type, a polygonal type, and the like according to the number of reflection angles. The corner reflector in the calibration verification assembly provided by the embodiment of the application may be a single-corner reflector as shown in fig. 2, an octagonal corner reflector as shown in fig. 3, or other types of corner reflectors. The corner reflector in the calibration verification assembly is made of metal materials, and any one of the metal materials such as aluminum, iron, stainless steel and the like can be selected.
Wherein the first detection object 1 is a diffuse reflector. The diffuse reflector may be selected from a white spherical object having a diffuse reflective surface, as shown in fig. 4. In order to improve the diffuse reflection capability of the white spherical object, a white diffuse reflection coating can be sprayed on the surface. Wherein, the white diffuse reflection coating can be white coating doped with glass beads or coating added with fine metal powder, etc. The spherical object is made of a non-metallic material, such as ceramic, rubber, plastic, wood, etc. The diameter of the spherical object has various optional values, and the diameter can be between 500mm and 5000mm optionally.
In the embodiment of the application, the detection object can be arranged on the holder, so that the position of the detection object can be adjusted. The pan-tilt 4 is composed of a fixed part 41 and a movable part 42, the fixed part 41 of the pan-tilt 4 is fixedly connected with the bracket 3, the first detection object 1 and the second detection object 2 are respectively installed at different positions of the movable part 42 of the pan-tilt 4, and the movable part 42 is movably connected with the fixed part 41. The spatial positions of the first detection object 1 and the second detection object 2 can be realized by the rotation of the movable member 42.
One possible structure of the pan/tilt head 4 is shown in fig. 5, wherein the fixing member 41 of the pan/tilt head 4 is an inverted hemispherical shell with an open top, the hemispherical outer surface of the fixing member 41 is directly and fixedly connected with the bracket 3, and the connection mode can be selected from a threaded connection mode, a welding mode, a clamping mode and the like. The movable element 42 of the pan/tilt head 4 is a sphere, and the movable element 42 is connected with the hemispherical inner surface of the fixed element 41 in a spherical pair manner. The first detection object 1 and the second detection object 2 are respectively installed at different positions of the movable member 42. When the movable member 42 rotates in the fixed member 41, the positions of the first detection object 1 and the second detection object 2 change, and in the process of the position change, they maintain a certain relative position relationship.
In a possible configuration of the pan/tilt head 4, the fixed member 41 may be a plate-shaped object with a hole in the middle, the movable member 42 may be a plate-shaped object with three or more spiral legs mounted on the same surface, and the other end of the spiral leg is mounted on the upper surface of the fixed member 41. The first detection object 1 is mounted on the upper surface of the movable member 42, and the second detection object 2 is mounted on the lower surface of the movable member 42. The inclination angle between the movable member 42 and the horizontal plane is adjusted by adjusting the height of each spiral leg, so as to adjust the position relationship between the first object 1 and the second object 2.
The lower surface of the fixing member 41 and the bracket 3 may be directly connected by means of screw connection, welding, clamping, or the like, or indirectly connected by means of an intermediate connecting member, such as a connecting rod or a stud bolt. The movable member 42 and the spiral leg, and the fixed member 41 and the spiral leg may be directly connected by any one of a screw connection, a welding, a snap connection, and the like.
Wherein, the screw thread stabilizer blade is regular polygon and distributes, for example, is regular triangle when screw thread stabilizer blade quantity is 3 and distributes, is square distribution when screw thread stabilizer blade quantity is 4, is regular hexagon when screw thread stabilizer blade quantity is 6 and distributes.
A possible structure of the pan-tilt 4 can also be a three-axis pan-tilt.
The first detection object 1 and the movable element 42 may be directly connected through a threaded connection, a welding, a clamping connection, or the first detection object 1 and the movable element 42 may be indirectly connected through an intermediate connection member, which may be a connection rod, a rope, a chain, or the like. The second detection object 2 and the movable element 42 may be directly connected by means of screw connection, welding, clamping, or the second detection object 2 and the movable element 42 may be indirectly connected by an intermediate connection member, which may be a connecting rod, a rope, a chain, etc.
The first analyte 1 may be attached in the same manner as the second analyte 2, or may be attached in a different manner. For example, the first detection object 1 is connected with the movable member 42 by a connecting rod, the second detection object 2 is directly welded on the bracket 3, for example, the first detection object 1 and the second detection object 2 are both fixedly connected with the movable member 42 by a connecting rod, and for example, the first detection object 1 and the second detection object 2 are both fixedly connected with the movable member 42 by a threaded connection.
By adjusting the movable member 42 of the pan/tilt head 4, the positions of the first detection object 1 and the second detection object 2 can be adjusted. Since the coordinate systems of the different sensors have vertical coordinate axes, it is conceivable that the first detection object 1 and the second detection object 2 are adjusted to the same vertical line by the pan/tilt head 4. Therefore, when the calibration verification is carried out, only the height difference between the first detection object 1 and the second detection object 2 needs to be measured, the measurement operation is simpler, errors caused by measurement can be reduced, and in addition, the calculation complexity of the calibration verification processing process can be simplified to a certain extent.
On the basis of the cloud platform 4, can use two collinear connecting rods to connect first detection thing 1 and second detection thing 2 to it is on same plumb line to be convenient more to adjust first detection thing 1 and second detection thing 2. A corresponding arrangement may be seen in figure 6, the calibration verification assembly comprising a first mounting bar 5 and a second mounting bar 6. One end of the first installation rod 5 is fixedly connected with the movable member 42, one end of the second installation rod 6 is fixedly connected with the movable member 42, the first detection object 1 is installed on the first installation rod 5, and the second detection object 2 is installed on the second installation rod 6. The detection point of the first detection object 1, the detection point of the second detection object 2, the axis of the first mounting rod 5 and the axis of the second mounting rod 6 are on the same straight line.
The detection point of the detection object may be a specific point in the detection object that is specified in advance by a technician. For example, the center of a sphere of a spherical object to be detected, the vertex of a single-corner type corner reflector (the intersection of three reflecting plates), and the geometric center of an octagonal type corner reflector.
Wherein, the first mounting rod 5 and the movable member 42 can be directly connected by means of screw connection, welding, clamping, etc. The first mounting rod 5 and the first detection object 1 can be directly connected through threads, welding, clamping and the like. The second mounting rod 5 and the movable member 42 can be directly connected by means of screw connection, welding, clamping, etc. The second detection object 2 and the second mounting rod 6 can be directly connected through threads, welding, clamping and the like, and can also be indirectly connected through an intermediate connecting piece, wherein the intermediate connecting piece can be a sliding block and the like.
The first mounting rod 5 and the second mounting rod 6 can be made of non-metal materials, such as wood, plastic, ceramic and the like, so that the detection accuracy of the millimeter wave radar is prevented from being affected. The first and second mounting posts 5, 6 may be made of the same material or different materials, for example, the first and second mounting posts 5, 6 are made of plastic, or the first mounting post 5 is made of wood and the second mounting post 6 is made of plastic.
The pan/tilt head 4 may be provided with a balancer 43 for detecting whether a connection line between a detection point of the first object 1 and a detection point of the second object 2 is on the same vertical line. The corresponding structure is as shown in fig. 7, and a balancing instrument 43 is fixedly connected to the movable member 42 of the pan/tilt head 4. The connecting line of the detection point of the first detector 1 and the detection point of the second detector 2 is perpendicular to the detection plane of the balancing instrument 43.
The balancer 43 may be a circular level or a tube level with two perpendicular axes. The circular level is a circular container with a circular division line engraved in the center of a top cover, a bubble is arranged in the container, and when the center of the bubble is coincident with the center of the circular division line, the detection plane of the circular level is in a horizontal state. The tube level is a tubular container with a top cover provided with a plurality of division lines which are parallel to each other and have intervals of 2mm, the division lines are vertical to the axis of the tubular container, a bubble is arranged in the tubular container, and when the midpoints of the bubbles of the two tube level devices with the vertical axes are coincident with the midpoints of the corresponding division lines, the detection plane of the tube level device is in a horizontal state. When the calibration verification assembly is used, an operator can adjust the movable member 42 of the holder 4 to enable the detection plane of the balancing instrument 43 to be in a horizontal state, so that the detection point of the first detection object 1 and the detection point of the second detection object 2 are ensured to be on the same plumb line.
In the embodiments provided herein, an adjustment mechanism may be provided to adjust the relative position between the second detection object 2 and the first detection object 1. Corresponding structure as shown in fig. 8, the second mounting rod 6 includes a slide groove 61 and a slide 62, the slide 62 is mounted in the slide groove 61, and the second detection object 2 is connected to the slide 62. The slide carriage 62 drives the second object 2 to slide up and down in the slide groove 61 along the axis direction of the second mounting rod 2, and the sliding track of the detection point of the second object 2 is on the axis of the second mounting rod 6. The second detecting object 2 may be a single-angle type corner reflector as shown in fig. 3, and the single-angle type corner reflector and the sliding base 62 may be directly connected by means of screw connection, clamping connection, welding, or the like.
In the embodiment provided by the present application, the second mounting rod 6 has a plurality of axially arranged graduation marks on its outer wall and a graduation value corresponding to each graduation mark, so as to accurately record the distance between the detection point of the first detection object 1 and the detection point of the second detection object 2. Corresponding structure as shown in fig. 9, the scale value corresponding to each scale mark is the distance between the point corresponding to the scale mark on the axis of the second mounting rod 6 and the detection point of the first detection object 1. When the single-angle corner reflector slides in the slide groove 61 along with the slide base 62, the scale value of the scale mark corresponding to the bottom surface of the slide base 62 is regarded as the distance between the detection point of the single-angle corner reflector and the detection point of the first detection object 1.
In the embodiment provided by the present application, the support 3 may be a tripod with a circular cross-sectional foot tube, and the corresponding structure is shown in fig. 10. The tripod leg tube can freely stretch out and draw back along the axis direction of the leg tube so as to adjust the overall height of the calibration verification assembly, the number of the telescopic joints of the leg tube can be 3-5, and the leg tube can be fixed by any one of a wrench buckle type, a spiral fastening type, a bolt fastening type and the like. The application provides a mark support 3 of verifying subassembly can select the foot rest of using arbitrary foot pipe quantity, and arbitrary shape can also be chooseed for use to the foot pipe cross-section. The structural form of the support with any number of foot tubes and any cross-sectional shape is similar to that of the tripod, and therefore, the description is omitted.
The calibration verification component is used as follows:
firstly, a common detection area of different types of sensors needing calibration verification is determined, and a calibration verification component is fixed in the common detection area. Secondly, adjust the height of each foot pipe of 3 supports of calibrating the verification subassembly, guarantee to calibrate the detection thing of verifying the subassembly and be located sensor detection range. Then, the angle between each leg of the bracket 3 of the calibration verification assembly is adjusted to ensure that the level bubble of the balance gauge 43 is at or near the center position. Finally, the movable member 42 is adjusted to make the detection plane of the balancing instrument 43 in the horizontal direction, thereby ensuring that the detection point of the first detection object 1 and the detection point of the second detection object 2 are on the same plumb line. At this point, the data may be detected by the sensor and calibration verified.
Calibration verification system
The application also provides a calibration verification system. As shown in fig. 11, the calibration verification system includes a target device 10, a calibration verification device 20, and a calibration verification component 30. The target device 10 is provided with a plurality of types of sensors 7, the calibration verification component 30 is located in the detection range of the plurality of types of sensors 7 on the target device 10, and the target device 10 and the calibration verification device 20 are established with communication connection.
The target device 10 may be any product in which various types of sensors 7 are mounted, for example, an automobile, a robot arm. The sensors 7 include, but are not limited to, laser radar, camera, and millimeter wave radar, and may include two or three of them.
The calibration verification device 20 may be a part of a product or an external device, for example, a vehicle-mounted terminal of an automobile, a terminal of a robot, or an external computer as a terminal. The various types of sensors 7 and the calibration verification device 20 can be directly communicated with each other through WiFi connection, Bluetooth connection, data line connection and the like. Indirect communication can also be established between the sensor 7 and the calibration verification device 20, for example, the sensor 7 on the automobile transmits detection data to the vehicle-mounted terminal, and the vehicle-mounted terminal transmits the detection data to the external computer. Real-time communication can be established between the sensor and the vehicle-mounted terminal and between the vehicle-mounted terminal and the external computer through any one of WiFi connection, Bluetooth connection, data line connection and the like.
Calibration verification method
The application also provides a calibration verification method, and the flow of the calibration verification method is shown in fig. 12. The calibration verification method is applied to the calibration verification system and used for verifying the calibration accuracy among the sensors 7 of various types. Among them, the plurality of types of sensors 7 include a first sensor 71, a second sensor 72, and a third sensor 73, and the first sensor 71, the second sensor 72, and the third sensor 73 are of different types. For example, laser radar, camera, millimeter wave radar.
First, the calibration of the second sensor 72 to the first sensor 71 is verified. The first sensor 71 and the second sensor 72 each detect a different detectable substance in the calibration verification assembly.
In step 101, the calibration verification device 20 obtains the detection data of the first sensor 71 and the detection data of the second sensor 72.
In step 102, the calibration verification device 20 determines first position information of the detection point of the first detection object 1 in the coordinate system of the first sensor 71 based on the detection data of the first sensor 71, which is marked as (a)1，b1，c1)。
In step 103, the calibration verification device 20 determines second position information of the detection point of the second detection object 2 in the coordinate system of the second sensor 72 based on the detection data of the second sensor 72, which is marked as (a)2，b2，c2)。
Step 104 of acquiring relative position information of the detection point of the first detection object 1 and the detection point of the second detection object 2 in the coordinate system of the first sensor 71, and recording ax、bx、cx. The relative position information indicates the lengths of the connection lines between the detection points of the first object 1 and the second object 2 projected in the x, y, and z-axis directions, respectively.
Based on the first position information, the second position information and the relative position information, an error value of the coordinate conversion function of the second sensor 72 to the first sensor 71 is determined, step 105. The specific method for calculating the error value is as follows:
the method comprises the following steps:
obtaining fourth position information of the second position information in the coordinate system of the first sensor 71 based on the coordinate conversion function from the second sensor 72 to the first sensor 71, and recording the fourth position information as (a)4，b4，c4)。
Subtracting corresponding coordinate components in the first position information and the fourth position information and taking an absolute value which is recorded as delta a1、Δb1、Δc1. Respectively calculate axAnd Δ a1，bxAnd Δ b1，cxAnd Δ c1Represents the error values of the coordinate conversion function of the second sensor 72 to the first sensor 71 in the directions of the x, y, and z axes, respectively.
Alternatively, the sum of squares of absolute values of respective coordinate components between the first position information and the fourth position information is calculated, and then the squared difference of the sum of squares, denoted as d, is calculated1. The sum of the squares of the relative position information is calculated and then the squared difference of the sum of the squares is calculated, denoted as d. Calculating d and d1Represents an error value of the coordinate conversion function of the second sensor 72 to the first sensor 71 as a whole.
The second method comprises the following steps:
obtaining fourth position information of the second position information in the coordinate system of the first sensor 71 based on the coordinate conversion function from the second sensor 72 to the first sensor 71, and recording the fourth position information as (a)4，b4，c4)。
Shifting the fourth position information under the coordinate system of the first sensor 71 according to the relative position information of the detection point of the first detection object 1 and the detection point of the second detection object 2 to obtain the fourth position informationFive position information, noted as (a)5，b5，c5)。
Subtracting corresponding coordinate components in the first position information and the fifth position information, and taking an absolute value which is recorded as delta a2、Δb2、Δc2. The absolute values of the coordinate components represent the error values of the coordinate transfer functions from the second sensor 72 to the first sensor 71 along the x, y, and z-axis directions, respectively.
Alternatively, the sum of the squares of the absolute values of the respective coordinate components between the first position information and the fifth position information is calculated, and then the square root of the sum of the squares is calculated, denoted as d2. The squared difference represents an error value of the coordinate transfer function of the second sensor 72 to the first sensor 71 as a whole.
The third method comprises the following steps:
shifting the second position information in the coordinate system of the second sensor 72 according to the relative position information between the detection point of the first detection object 1 and the detection point of the second detection object 2 to obtain sixth position information, which is marked as (a)6，b6，c6)。
Obtaining seventh position information of the sixth position information in the coordinate system of the first sensor 71 based on the coordinate conversion function from the second sensor 72 to the first sensor 71, and recording as (a)7，b7，c7)。
Subtracting corresponding coordinate components in the first position information and the seventh position information and taking an absolute value which is recorded as delta a3、Δb3、Δc3. The absolute values of the coordinate components represent the error values of the coordinate transfer functions from the second sensor 72 to the first sensor 71 along the x, y, and z-axis directions, respectively.
Alternatively, the sum of squares of absolute values of respective coordinate components between the first position information and the seventh position information is calculated, and then the square root of the sum of the squares is calculated as d3. The squared difference represents an error value of the coordinate transfer function of the second sensor 72 to the first sensor 71 as a whole.
As described above, in the calibration verification of the second sensor 72 to the first sensor 71, the first detection object 1 is used as a spherical object, and the second detection object 2 is used as a corner reflector. The first sensor 71 is a camera or a laser radar, and the second sensor 72 is a millimeter-wave radar.
The error of the calibration of the first sensor 71 to the second sensor 72 is the same as the error of the calibration of the second sensor 72 to the first sensor 71, and therefore, the description will not be repeated.
Second, calibration of the third sensor 73 to the first sensor 71 is verified. The first sensor 71 and the third sensor 73 each detect the same detectable substance in the calibration verification assembly.
At step 106, calibration verification apparatus 20 obtains detection data of third sensor 73.
In step 107, the calibration verification apparatus 20 determines third position information of the detection point of the first detection object 1 in the coordinate system of the third sensor 73, which is marked as (a), based on the detection data of the third sensor 733，b3，c3)。
Subtracting corresponding coordinate components in the first position information and the eighth position information and taking an absolute value which is recorded as delta a4、Δb4、Δc4. The absolute values of the coordinate components represent the error values of the coordinate transfer functions from the third sensor 73 to the first sensor 71 along the x, y, and z-axis directions, respectively.
Alternatively, the sum of the squares of the absolute values of the respective coordinate components between the first position information and the eighth position information is calculated, and then the squared difference of the sum of the squares, denoted as d, is calculated4. The squared difference represents an error value of the coordinate conversion function of the third sensor 73 to the first sensor 71 as a whole.
In the calibration verification of the third sensor 73 to the first sensor 71, the first detection object 1 is used as a spherical object. Wherein, the first sensor 71 is a camera, and the third sensor 73 is a laser radar; alternatively, the first sensor 71 is a laser radar and the third sensor 73 is a camera.
Errors in the calibrations of the first to third sensors 71 to 73 are the same as those of the calibrations of the third to first sensors 73 to 71, and therefore, a repetitive description will not be made.
The following description will be made of the use of the calibration verification component and the calibration verification method, taking verification of the calibration accuracy of the laser radar, the camera, and the millimeter wave radar as an example:
the first sensor 71 is a laser radar, the second sensor 72 is a millimeter wave radar, and the third sensor 73 is a camera. The laser radar and the camera detect a first detection object 1, and the first detection object 1 is a white sphere with a diffuse reflection phenomenon, which is hereinafter referred to as a sphere. The millimeter wave radar detects the second detection object 2, and the second detection object 2 is a single-angle type corner reflector, hereinafter referred to as a corner reflector.
Firstly, determining a common detection area of a laser radar, a camera and a millimeter wave radar, and fixing a calibration verification component in the common detection area. Secondly, adjust the height of each foot pipe of 3 supports of calibrating the verification subassembly, guarantee to calibrate the detection thing of verifying the subassembly and be located sensor detection range. Then, the angle between each leg of the bracket 3 of the calibration verification assembly is adjusted to ensure that the level bubble of the balance gauge 43 is at or near the center position. Finally, the movable element 42 is adjusted to ensure that the level bubble of the balancing gauge 43 is in a central position. When the level bubble of the balance gauge 43 is at the center position, it indicates that the detection plane of the balance gauge 43 is in the horizontal direction, and thus indicates that the straight line where the detection point of the first detection object 1 and the detection point of the second detection object 2 are located is in the vertical direction. At this point, calibration verification may be performed.
Firstly, verifying that the millimeter wave radar reaches the laser radar calibration.
The method comprises the steps of obtaining a group of hemispherically distributed space coordinate points of a sphere detected by a laser radar, fitting the group of hemispherically distributed space coordinate points into a group of spherically distributed space coordinate points by using a robust sphere fitting algorithm so as to obtain coordinates of each point on the spherical surface of the whole sphere, and calculating the center coordinates (which can use algorithm models such as a machine learning model) of the sphere under a laser radar coordinate system based on the coordinates of each point on the spherical surface, wherein the center coordinates are first position information.
And a cluster of millimeter wave radar target points which are detected by the millimeter wave radar and are related to the corner reflector is obtained, and the coordinates of the detection points of the corner reflector in the millimeter wave radar coordinate system, namely second position information, are filtered according to the placement position information of the calibration verification component.
And based on a coordinate conversion function from the millimeter wave radar to the laser radar, converting second position information of the detection point of the corner reflector in a millimeter wave radar coordinate system into a laser radar coordinate system, and obtaining a coordinate of the detection point of the corner reflector in the laser radar coordinate system, namely third position information.
And calculating the Euclidean distance between the first position information and the third position information, and comparing the Euclidean distance with the height value from the center of the sphere to the detection point of the corner reflector to obtain the calibration precision of the millimeter-wave radar reaching the laser radar.
And secondly, verifying the calibration from the millimeter wave radar to the camera.
And acquiring a picture about the sphere detected by the camera, detecting the sphere center position in the picture by using any sphere detection algorithm, and acquiring the sphere center coordinate of the sphere in a camera coordinate system, namely fourth position information. The sphere detection algorithm includes, but is not limited to, hough transform, template matching, and deep learning.
And based on second position information of the detection point of the corner reflector in a millimeter wave radar coordinate system, adding an offset upwards to obtain fifth position information corresponding to the second position information. Wherein the upward increasing offset is equal to the actually measured height from the center of the sphere to the detection point of the corner reflector.
And converting fifth position information of the detection point of the corner reflector in a millimeter wave radar coordinate system into a camera coordinate system based on a coordinate conversion function from the millimeter wave radar to the camera, and obtaining a coordinate, namely sixth position information, of the detection point of the corner reflector in the camera coordinate system after the detection point of the corner reflector is deviated.
And determining a re-projection error based on the fourth position information and the sixth position information, wherein the re-projection error represents an error value calibrated by the millimeter wave radar reaching camera.
And thirdly, verifying the calibration from the camera to the laser radar.
And converting the fourth position information of the sphere in the camera coordinate system to the laser radar coordinate system based on the coordinate conversion function from the camera to the laser radar to obtain seventh position information.
And determining a re-projection error based on the first position information and the seventh position information, wherein the re-projection error represents an error value from the camera to the laser radar calibration.
In the above embodiments provided by the present application, calibration verification between the laser radar, the camera, and the millimeter wave radar is performed based on the same calibration verification component. When placing multiple calibration verification components, target matching is performed before calculating errors. Since the placement position is fixed and known, the matching target is detected using nearest neighbor based on euclidean distance. For example, when the laser radar reaches the camera calibration accuracy, after a plurality of laser centers are projected onto a picture, for each projection point, a picture center point closest to the projection point is searched for as a match. The calibration verification precision can be represented by an error value obtained by single calculation, an average value of a plurality of error values obtained by multiple calculations, or any value of the plurality of error values obtained by multiple calculations.
The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. Calibration verification assembly, characterized in that it comprises a first detector (1), a second detector (2) and a holder (3), wherein:
the first detection object (1) and the second detection object (2) are respectively objects for detection by different types of sensors (7);
the first detection object (1) and the second detection object (2) are respectively arranged on the bracket (3).
2. Calibration verification assembly according to claim 1, wherein the first detector (1) is a diffuse reflector and the second detector (2) is a corner reflector.
3. Calibration verification assembly according to claim 2, wherein the first test object (1) is spherical in shape.
4. Calibration verification assembly according to claim 1, further comprising a pan-tilt (4), the pan-tilt (4) comprising a fixed part (41) and a movable part (42);
the fixing piece (41) is fixedly connected with the support (3), and the first detection object (1) and the second detection object (2) are respectively installed on the movable piece (42).
5. Calibration verification assembly according to claim 4, further comprising a first mounting rod (5) and a second mounting rod (6);
one end of the first mounting rod (5) is fixedly connected with the movable piece (42), and one end of the second mounting rod (6) is fixedly connected with the movable piece (42);
the first detection object (1) is arranged on the first mounting rod (5), and the second detection object (2) is arranged on the second mounting rod (6);
the detection point of the first detection object (1), the detection point of the second detection object (2), the axis of the first mounting rod (5) and the axis of the second mounting rod (6) are on the same straight line.
6. Calibration verification assembly according to claim 5, wherein the head (4) further comprises a balancing machine (43);
the balancing instrument (43) is fixedly connected with the movable piece (42);
the detection plane of the balancing instrument (43) is perpendicular to the straight line.
7. Calibration verification assembly according to claim 5, wherein the second mounting bar (6) comprises a slide groove (61) and a slide (62);
the slide (62) is mounted in the chute (61);
the second detection object (2) is installed on the sliding seat (62), and the sliding track of the detection point of the second detection object (2) is on the axis of the second installation rod (6).
8. Calibration verification assembly according to claim 7, wherein the second mounting rod (6) has a plurality of axially aligned graduations on its outer wall and a graduation value corresponding to each graduations, wherein the graduation value corresponding to the graduations is the distance between the point where the graduations correspond to the axis of the second mounting rod (6) and the detection point of the first detector (1).
9. Calibration verification assembly according to claim 1, wherein the support (3) is a tripod.
10. Calibration verification system, characterized in that it comprises a target device (10), a calibration verification device (20) and a calibration verification assembly (30) according to any of claims 1-9, wherein a plurality of types of sensors (7) are mounted on the target device (10), the calibration verification assembly (30) is located in a detection area of the plurality of types of sensors (7), and the plurality of types of sensors (7) and the calibration verification device (20) establish a communication connection.
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| CN202121580763.XU CN215449579U (en) | 2021-07-12 | 2021-07-12 | Calibration verification assembly and system |
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| CN202121580763.XU CN215449579U (en) | 2021-07-12 | 2021-07-12 | Calibration verification assembly and system |
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