CN218299035U - Calibration plate and calibration control equipment - Google Patents
Calibration plate and calibration control equipment Download PDFInfo
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- CN218299035U CN218299035U CN202221320519.4U CN202221320519U CN218299035U CN 218299035 U CN218299035 U CN 218299035U CN 202221320519 U CN202221320519 U CN 202221320519U CN 218299035 U CN218299035 U CN 218299035U
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/56—Extraction of image or video features relating to colour
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
Abstract
The embodiment of the application provides a calibration plate and calibration control equipment. A first calibration area and a second calibration area are presented on the panel of the calibration plate, the first calibration area surrounds the outer side of the second calibration area, and the first calibration area is used for identifying the shape of the calibration plate based on image acquisition. The first calibration area and the second calibration area which are displayed on the panel of the calibration plate are convenient for the sensor to accurately identify the edge of the calibration plate, and then the external parameter is accurately calibrated.
Description
Technical Field
The application relates to the technical field of calibration, in particular to a calibration plate and calibration control equipment.
Background
At present, target objects around a vehicle are often detected by a plurality of sensors deployed in the vehicle, and detection data of different sensors are subjected to data fusion by calibrated external parameters, so that abundant detection data are obtained, and the visual perception capability of the vehicle is enhanced. However, how to design the calibration board to improve the precision of the external parameter calibration and further obtain accurate detection data is a problem to be solved.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application provides a calibration plate and calibration control equipment to be accurately identified by a sensor, the precision of calibrating external parameters is improved, and accurate detection data are obtained.
In a first aspect, an embodiment of the present application provides a calibration plate, where a panel of the calibration plate exhibits a first calibration area and a second calibration area; the first calibration area surrounds the second calibration area, and the first calibration area is used for identifying the shape of the calibration plate based on image acquisition.
Through the calibration plate that the first aspect provided, the first calibration region that appears on its panel can be used for discerning the shape of calibration plate, and the edge of calibration plate is demarcated the edge that the regional sensor of being convenient for accurately discerned to the first calibration region that appears and the second on the panel of calibration plate, and then realizes the accurate demarcation of external reference.
In a possible embodiment, the first calibration area is in a first color and the second calibration area is in a second color, the first color and the second color being different.
Through the calibration plate provided by the embodiment, the sensor can accurately identify the first calibration area conveniently.
In one possible embodiment, in the hue ring, the angle between the hue of the first color and the hue of the second color is larger than 30 degrees.
Through the calibration plate provided by the embodiment, the difference between the first calibration area and the second calibration area is further increased, the accuracy of the sensor for identifying the first calibration area is increased, and the precision of external parameter calibration is further increased.
In a possible embodiment, the calibration plate is circular and the first calibration area is a circular ring.
Through the calibration plate that this embodiment provided, when the sensor surveyed the calibration plate, based on the edge of the calibration plate that detects, the geometric center of calibration plate was obtained in the easier fitting.
In a possible embodiment, the ratio of the area of the first calibration region to the area of the calibration plate is smaller than a first preset value.
With the calibration plate provided by this embodiment, the narrower the loop of the first calibration region, the closer the first calibration region is to the edge line of the calibration plate, and the higher the accuracy of the shape of the calibration plate fitted based on the first calibration region is
In a possible embodiment, the calibration plate further comprises a third calibration area, the third calibration area comprises the geometric center of the calibration plate, and the second calibration area surrounds the outside of the third calibration area, and the third calibration area is used for identifying the geometric center of the calibration plate.
With the calibration plate provided by this embodiment, similar to the first calibration region, after the second calibration region or the third calibration region is identified, it can also be used to fit to obtain the geometric center of the calibration plate.
In a possible implementation manner, the color presented by the third calibration area is different from the color presented by the second calibration area, or the third calibration area is a hollow area.
Through the calibration plate provided by the embodiment, the accuracy that the second calibration area or the third calibration area can be identified by the visual sensor is improved based on the difference between the second calibration area and the third calibration area.
In a possible embodiment, the third calibration area is a circular area centered on the geometric center of the calibration plate.
Through the calibration plate provided by the embodiment, the circular calibration plate is convenient to fit to obtain the circle center, and then the point pair information based on the circle center is subjected to external parameter calibration, so that the external parameter calibration precision is improved.
In a possible embodiment, the ratio of the area of the third calibration region to the area of the calibration plate is smaller than a second preset value.
By the calibration board provided by the embodiment, the graph of the third calibration area is closer to the center of the calibration board, so that the point pair information of the first image point can be accurately acquired
In one possible embodiment, the second calibration area is a solid color area.
With the calibration board provided by this embodiment, the second calibration area may be a solid color area, that is, the second calibration area does not contain any pattern, line, character, etc. so that the first calibration area is accurately identified.
In one possible embodiment, the face sheet of the calibration sheet is covered with a matte coating.
Through the calibration plate that this embodiment provided, when avoiding discerning the calibration area on the calibration plate based on image acquisition, light reflection causes the influence to the discernment degree of accuracy.
In a possible embodiment, the calibration plate further comprises: a connecting device; the connecting device is used for connecting the calibration plate to the movable device, so that the calibration plate moves along with the movable device.
Through the calibration plate that this embodiment provided, be convenient for remove the calibration plate, increase the convenience that the calibration plate used.
In a possible embodiment, the connection means is an electric lifting rod, and the plum connection means lifts and lowers the calibration plate according to the control of the movable means.
Through the calibration plate provided by the embodiment, the flexible movement of the calibration plate in the detection space is realized.
In one possible embodiment, the size of the calibration plate is related to the density of the radar beam that detects the calibration plate.
Through the calibration board that this embodiment provided, can make the radar survey the calibration board and obtain the survey data's that the degree of accuracy is higher.
In a second aspect, an embodiment of the present application provides a calibration control apparatus, including: a calibration control mechanism and the calibration plate of the first aspect or each possible embodiment, the calibration control mechanism comprising a movable device and a connecting device, one end of the connecting device being fixed to the movable device, the other end of the connecting device being fixed to the calibration plate; the movable device is used for controlling the calibration board to move in the horizontal direction and/or the vertical direction.
In one possible embodiment, the mobile device comprises a ground mobile device or a flying device.
In a possible embodiment, the connecting device is a liftable device; the lifting device is used for controlling the calibration plate to move in the vertical direction.
Drawings
FIG. 1 is a schematic structural diagram of a vehicle according to an embodiment of the present disclosure;
fig. 2a is a schematic structural diagram of a calibration board according to an embodiment of the present disclosure;
fig. 2b is a schematic structural diagram of a calibration board according to an embodiment of the present disclosure;
fig. 3a is a schematic structural diagram of a calibration board according to an embodiment of the present application;
fig. 3b is a schematic structural diagram of a calibration board according to an embodiment of the present disclosure;
fig. 4a is a schematic structural diagram of a calibration board according to an embodiment of the present disclosure;
fig. 4b is a schematic structural diagram of a calibration board according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a calibration board provided in an embodiment of the present application;
FIG. 6 is a schematic diagram of a mobile device according to an embodiment of the present application;
FIG. 7 is a schematic view of another mobile device provided in an embodiment of the present application;
fig. 8 is a schematic structural diagram of a calibration control device according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an external reference calibration system according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
The calibration board and the calibration control device provided by the application can be suitable for external reference calibration between different sensors of any device with at least two sensors, for example, the device can be an intelligent vehicle, an intelligent robot, industrial manufacturing equipment, engineering detection equipment and the like, and when the application is applied to different devices, the same or similar technical effects are achieved. For convenience of explanation, the following description will be given only by taking as an example the external reference calibration applied to sensors deployed in smart vehicles (simply referred to as vehicles).
Fig. 1 is a schematic structural diagram of a vehicle 100 according to an embodiment of the present disclosure. As shown in fig. 1, a control device 110 is disposed in a vehicle 100, and the control device 110 may be connected to sensors 120 disposed in the vehicle to detect an environment outside the vehicle through the sensors 120, respectively. The sensors 120 may include, for example, a camera sensor 121, a radar sensor 122 (e.g., a laser radar sensor, a millimeter wave radar sensor, etc.), a combined positioning sensor 123, an ultrasonic sensor 124, and the like.
It should be noted that, when the control device 110 detects through the sensor 120, detection data of a plurality of different sensors may be fused to obtain a more accurate detection result of the target object. For example, the camera sensor 121 is used for acquiring RGB information of the target object, which is beneficial to extracting various texture features to realize various image recognition and segmentation tasks with high difficulty, but is difficult to acquire three-dimensional information of the target object; the radar sensor 122 can acquire and detect two-dimensional (2D) or three-dimensional (3D) point cloud data of a target object, wherein the point cloud data can accurately reflect the depth and the reflection intensity of the target object, and perform image acquisition on the target object around a vehicle, but due to the sparsity and the disorder of the point cloud, image recognition and segmentation tasks are difficult to achieve. The detection data of the camera sensor 121 and the radar sensor 122 can be fused, so that the detection result not only can accurately reflect the two-dimensional RGB information of the target object, but also can accurately reflect the depth information of the target object, and the detection capability of the vehicle to the external environment is improved.
Generally, different sensors are installed at different positions in a vehicle, and pose positions of the sensors are different when a target object is detected, so that detection results of the sensors belong to coordinate systems of the sensors, external parameters among the sensors need to be calibrated, conversion of detection data among the sensors is achieved, and fusion of the detection data is achieved.
Taking external reference calibration for the camera sensor 121 and the radar sensor 122 as an example, in the process that the control device 110 detects the calibration board shown in fig. 1 through the sensors to obtain the point pair information of the image, it is difficult to determine which radar three-dimensional point corresponds to the image pixel point due to the sparsity of the radar point cloud, that is, it is difficult to obtain accurate point pair information of the image point, thereby resulting in lower calibration precision.
In order to solve the above problem, the present application provides a scheme of calibrating board, realizes the discernment to calibrating board shape through the first demarcation region of calibrating board, and then can realize the accurate demarcation of external reference according to the shape of calibrating board.
It should be noted that the camera sensor 121 and the radar sensor 122 are only used as examples for the present embodiment to facilitate understanding. But should not be construed as limiting the present application in any way, for example, the camera sensor 12 and the ultrasonic sensor 124 may also be externally calibrated, or the radar sensor 122 and the combination positioning sensor 123 may also be externally calibrated, etc.
Fig. 2a is a schematic structural diagram of a calibration board 200a according to an embodiment of the present disclosure; fig. 2b is a schematic structural diagram of a calibration board 200b according to an embodiment of the present disclosure.
A first calibration area and a second calibration area are presented on the panel of the calibration plate. The first calibration area surrounds the outside of the second calibration area, and the first calibration area is used for identifying the shape of the calibration plate based on image acquisition. As shown in fig. 2a, the calibration plate 200a presents a first calibration area 210a and a second calibration area 220a on the panel; as shown in fig. 2b, the calibration plate 200b presents a first calibration area 210b and a second calibration area 220b on the face thereof.
The first calibration area and the second calibration area can be distinguished by different colors, sidelines, different patterns, different reflectivities and different concave-convex degrees. The difference between the first calibration area and the second calibration area is larger, so that the first calibration area can be more easily identified based on image acquisition, namely, the shape of the calibration plate can be more accurately identified.
It should be appreciated that a vision sensor (e.g., camera sensor 121) may identify the first calibration area, and thus the shape of the calibration plate, based on image acquisition; a detection sensor (e.g., radar sensor 122, ultrasonic sensor 124, etc.) may detect the shape of the calibration plate in a detection space.
Based on the shape recognized by each sensor, the coordinates of the first image point on the calibration plate in the coordinate system of each sensor can be determined, the coordinates in the coordinate system of each sensor are used as the point pair information of the first image point, and the external parameters among the sensors are further determined according to the point pair information. Wherein the first image point may be the geometric center of the calibration plate. For example, after the camera sensor 121 acquires an image of the calibration plate, the shape of the first calibration region may be obtained by fitting, so as to obtain a coordinate (for example, referred to as a first coordinate) of the geometric center of the calibration plate in the coordinate system of the camera sensor; after the radar sensor 122 detects the calibration plate, the shape of the calibration plate can be obtained by fitting, and then the coordinate (for example, referred to as a second coordinate) of the geometric center of the calibration plate under the coordinate system of the radar sensor 122 is obtained; and combining the first coordinate and the second coordinate to obtain point pair information of the first image point.
In general, the first calibration region covers the edge of the calibration board, for example, the first calibration region 210a covers the edge of the calibration board 200a in fig. 2a, and the first calibration region 210b covers the edge of the calibration board 200b in fig. 2b, so that the edge of the calibration board detected by the detection sensor (e.g., the radar sensor 122 in fig. 1) is consistent with the edge of the calibration board identified by the vision sensor (e.g., the camera sensor 121 in fig. 1), thereby improving the accuracy of the point pair information. Certainly, the application does not exclude the situation that the first calibration area does not cover the edge of the calibration plate, in this situation, the shape of the first calibration area may be set to be consistent with the shape of the edge of the calibration plate, in other words, the geometric center of the first calibration area is made to be consistent with the geometric center of the calibration plate, so as to obtain accurate point pair information.
The shape of the calibration plate is not limited in the present application, and may be, for example, a circle, a square, a triangle, a polygon, or the like. Assuming that the calibration plate is circular in shape, referring to fig. 2a, the first calibration area 210a may be a circular ring and the second calibration area 220a may be circular, referring to fig. 2b, the first calibration area 210b may be a circular ring and the second calibration area 220b may be a circular ring; assuming that the calibration plate is square in shape, the first calibration region may be a square ring and the second calibration region may be a square ring or square-shaped referring to calibration plate 300a shown in fig. 3a and calibration plate 300b shown in fig. 3 b. In some embodiments, the first calibration area may also be irregular, for example, the calibration plate is square, the second calibration area is circular or round, and the inner edge line of the first calibration area is round and the outer edge line is square, see the calibration plate 400a shown in fig. 4a and the calibration plate 400b shown in fig. 4 b.
In some embodiments, in order to make the first calibration region easier to be recognized by the image-capturing-based sensor, the first color of the first calibration region is different from the second color of the second calibration region, and has a larger color difference, or has a larger contrast with the second color. For example, the included angle between the hue ring of the first color and the hue ring of the second color is greater than or equal to a preset hue included angle, which may be, for example, 30 degrees, 45 degrees, 60 degrees, 90 degrees, 180 degrees, and the like. For example, the first color and the second color may be red and blue, yellow and purple, green and orange, etc. respectively, so that the first region and the second region have better contrast and can be clearly distinguished under different illumination conditions.
Optionally, the second calibration area may be a solid color area, that is, the second calibration area does not contain any pattern, line, character, etc. so that the first calibration area is accurately identified.
The narrower the loop of the first calibration region, the closer the first calibration region is to the edge line of the calibration plate, and the higher the accuracy of the shape of the calibration plate fitted based on the first calibration region. Therefore, in some embodiments, the ratio of the area of the first calibration region to the area of the calibration plate should be less than a first preset value, for example, 40%, or 20% to 40% within a preset range; or, when the calibration plate is circular and the first calibration region is a circular ring, the ratio of the width of the first calibration region to the radius of the calibration plate should be smaller than a first preset value, for example, 25%, or the ratio of the width of the first calibration region to the radius of the calibration plate is within a preset range, for example, 10% to 20%. For example, the calibration plate may be a circular plate with a radius of about 50cm, when the second calibration region is circular, the radius of the second calibration region is about 40cm, when the second calibration region is circular, the outer radius of the second calibration region (i.e. the inner radius of the first calibration region) is about 40cm, and the circular width of the first calibration region is about 10cm.
In the above fig. 2b, the second calibration area 220b further includes a third calibration area 230b therein, i.e. the second calibration area 220b surrounds the third calibration area 230 b. The third calibration area 230b includes the geometric center of the calibration plate, for example, the third calibration area 230b may be a circular area that is circular with the geometric center of the calibration plate 200 b. The size of the third calibration area is not limited in the present application.
The third calibration area 230b may have a third color different from the second color of the second calibration area 220b, or the third calibration area 230b may be a hollow area. So that the second calibration area 220b or the third calibration area 230b can be recognized by the vision sensor. Similar to the first calibration area, the second calibration area 220b or the third calibration area 230b can also be used to fit the geometric center of the calibration plate after being identified.
Optionally, coordinates of the geometric center of the calibration plate obtained based on the fitting of the second calibration region 220b or the third calibration region 230b may be used to determine point pair information of the first image point; alternatively, the coordinates of the geometric center of the calibration plate obtained by fitting based on the second calibration region 220b or the third calibration region 230b may be used to correct the coordinates of the geometric center of the calibration plate obtained by fitting based on the first calibration region 210a, and determine the point pair information of the first image point based on the corrected coordinates of the geometric center.
In some embodiments, the third calibration region 230b may be used to identify the center of the calibration plate 200b based on image acquisition, i.e., to identify the coordinates of the first image point in the coordinate system of each sensor. In this case, the ratio of the area of the third calibration region 230b to the area of the calibration plate 200b should be smaller than a second preset value; alternatively, when the calibration plate is circular and the third calibration region is circular, the ratio of the radius of the third calibration region 230b to the radius of the calibration plate 200b should be smaller than the second preset value. So that the graph of the third calibration area is closer to the center of the calibration plate, and the point pair information of the first image point is accurately acquired. For example, the calibration plate may be a circular plate with a radius of about 50cm, and the third calibration area may be a circle with a radius of about 3cm centered on the center of the calibration plate.
Optionally, when the third calibration region 230b meets the constraint of the second preset value, the center of the calibration plate may be obtained based on the fitting of the third calibration region 230b, and the point pair information is determined based on the coordinates of the center of the circle in the coordinate system of each sensor, or the center of the calibration plate may be obtained based on the fitting of the third calibration region 230b, the coordinates of the center of the circle of the calibration plate obtained based on the fitting of the first calibration region 210b are corrected based on the coordinates of the center of the circle in the coordinate system of each sensor, and the point pair information is determined based on the corrected coordinates in each coordinate system.
In some embodiments, the panel of the calibration plate is covered with a matte coating to avoid the influence of light reflection on the identification accuracy when the calibration area on the calibration plate is identified based on image acquisition.
In some embodiments, the size of the calibration plate is related to the density of the radar beam that detects the calibration plate. For example, the radar wire harness of the radar sensor participating in external parameter calibration is more dense, then the calibration board can be set to be smaller, and the radar wire harness of the radar sensor is less dense, then the calibration board can be set to be larger. So that the accuracy of detection data obtained by detecting the calibration plate by the radar is higher.
Therefore, in the embodiment of the application, the first calibration area presented on the panel of the calibration plate can be used for identifying the shape of the calibration plate, and the first calibration area and the second calibration area presented on the panel of the calibration plate are convenient for the sensor to accurately identify the edge of the calibration plate, so that the accurate calibration of the external parameter is realized.
Fig. 5 is a schematic diagram of a calibration board 500 according to an embodiment of the present application. In some embodiments, as shown in fig. 5, the calibration plate 500 further comprises a connection device 510. The connection means 510 is used to connect the panel 520 of the calibration plate 500 to the base 001. For example, one end of the connection device 510 is connected to the panel 520 of the calibration plate, and the other end of the connection device 510 is connected to the base 001.
In one example, the connection device 510 and the panel 520 of the calibration plate may be fixedly connected, such as welded, adhered, etc.; in another example, the connection device 510 may be detachably connected to the panel 520 of the calibration plate to facilitate independent and combined use thereof.
Similar to the above examples, the connection device 510 and the base 001 may be fixedly connected, such as welding, bonding, etc.; alternatively, the connection device 510 and the base 001 may be detachably connected to facilitate independent use and combined use thereof.
Optionally, the base 001 may be a device that is convenient to place or convenient to hold.
Alternatively, the connecting means 510 may be a rod.
In order to achieve a flexible movement of the panel 520 of the calibration plate, the connecting means 510 may be a lifting means, such as a lifting rod. The liftable rod can be lifted by manually controlling a mechanical part, or can be lifted by electrically controlling a mechanical part, such as an electric lifting rod.
For example, when the lifting device is an electric lifting device, the lifting device or the base 001 may be provided with an operation button, and when a user presses the operation button, the lifting device is lifted; or the lifting device can be connected with external equipment to receive a control instruction of the external equipment so as to realize lifting.
In fig. 1, in the process that the control device 110 detects the calibration board through the sensor to obtain the point pair information of the image point, the calibration board needs to be moved manually to realize the detection of the calibration board at different positions, however, the calibration efficiency is low due to the manual movement of the calibration board, and further, the calibration precision is low due to the inaccurate movement position, and the calculation result of the external parameter enters the local optimal solution due to the insufficient movement area.
In order to solve the problems of low calibration efficiency and low calibration accuracy, the application provides the calibration plate which can realize automatic movement based on a control instruction, so that the calibration efficiency is improved on a plurality of positions of the calibration plate in the moving process through two different sensors, and the movable positions are richer due to the improvement of the calibration efficiency, and the calibration precision is further improved.
In order that the calibration plate may be automatically moved based on the control instruction, a processor may be disposed in the base 001 of fig. 5, and the processor may control the panel 520 of the calibration plate to move. For example, a processor disposed in the base 001 may control the connection device 510 to be lifted so as to move the panel 520 of the calibration plate in the vertical direction.
In some embodiments, the base 001 may be a movable device that may be used to control the movement of the calibration plate's faceplate 520 in the horizontal and/or vertical directions.
It should be noted that the horizontal direction is a ground plane direction, and the vertical direction is a direction perpendicular to the ground plane.
Continuing with the above embodiment, where the movable device may be a ground moving device (e.g., a remotely controlled cart), referring to the top view shown in a and the front view of the vehicle shown in b in fig. 6, the movable device 610 may be moved in a horizontal direction within the detection zone of the vehicle and may carry the calibration plate in a horizontal direction based on the attachment means 620 being fixed.
In other embodiments, where the movable device may be a flying device (e.g., a drone, etc.), referring to the top view shown in a and the front view of the vehicle shown in b in fig. 7, the movable device 710 may be movable in a horizontal direction and/or a vertical direction within the detection zone of the vehicle. The connecting device 720 may be a lifting device or a non-lifting rod, which is not limited in this application.
In some embodiments, the base 001 may be connected to a control device of the vehicle, receive a control command sent by the control device, and move the panel 520 of the calibration board to the target position according to the control command, so that the vehicle detects the calibration board on the target position through various sensors to achieve calibration.
In still other embodiments, the base 001 may be connected to the upper computer, receive a control command sent by the upper computer, and move the panel 520 of the calibration board to the target position according to the control command, so that the vehicle detects the calibration board at the target position through various sensors to achieve calibration. The host computer may be connected to the vehicle control device, receive point pair information of the first image point on the calibration plate transmitted from the vehicle control device, and generate position coordinates of the next destination position to which the panel 520 of the calibration plate is to be moved, based on the point pair information of the first image point.
Fig. 8 is a schematic structural diagram of a calibration control apparatus 800 according to an embodiment of the present disclosure. As shown in fig. 8, the calibration control apparatus 800 includes: a calibration plate 810 and a calibration control mechanism 820. The calibration control mechanism 820 is used to control the calibration plate 810 to move to the position required for calibration.
Illustratively, the calibration control mechanism 820 includes a connecting device 821 and a base 822, a processor may be disposed in the base 822, the connecting device 821 is used for connecting the calibration board 810 to the base 822, for example, one end of the connecting device 821 is fixed to the base 822, and the other end of the connecting device 821 is fixed to the calibration board 810, so that the calibration board 810 moves according to the control of the processor in the calibration control mechanism 820. The connecting device 821 may be a rod made of any material, or may be a lifting device (e.g., an electric lifting rod) that can be lifted under the control of the processor in the calibration control mechanism 820, for example, to control the calibration board 810 to move in the direction perpendicular to the ground plane.
In some embodiments, the base 822 may be a movable device that may be used to control the movement of the calibration plate 810 in the horizontal direction and/or the vertical direction.
It should be noted that the horizontal direction is a ground plane direction, and the vertical direction is a direction perpendicular to the ground plane.
In some embodiments, where the movable device may be a ground moving device (e.g., a remotely controlled cart), referring to the top view of a and the front view of the vehicle as shown in fig. 6 b, the movable device 610 may move in a horizontal direction within the detection zone of the vehicle and may carry the calibration plate in a horizontal direction based on the fixation of the attachment device 620.
In other embodiments, where the movable device may be a flying device (e.g., a drone, etc.), referring to the top view shown in a and the front view of the vehicle shown in b in fig. 7, the movable device 710 may be movable in a horizontal direction and/or a vertical direction within the detection zone of the vehicle.
It should be understood that the above embodiments only illustrate the connection device 821 and the base 822 belonging to the calibration control mechanism 820, but the application is not limited thereto. For example, the calibration plate 810 may include a connection device 821 and/or a base 822. In this case, the processor in the calibration control device 800 may be connected to the calibration board 810 in a wired or wireless manner to control the movement of the calibration board.
Fig. 9 is a schematic structural diagram of an external reference calibration system 900 according to an embodiment of the present disclosure. As shown in fig. 9, the external reference calibration system 900 may include an upper computer 910 and a calibration control device 920. Calibration control device 920 may include a calibration control mechanism 921. Calibration control 920 may also include a calibration plate 922. The upper computer 910 and the calibration control mechanism 921 may be connected in a wired or wireless manner, and the calibration control mechanism 921 and the calibration board 922 may be connected through a mechanical component. The calibration control mechanism 921 can control the calibration plate 922 to move to a plurality of target positions in sequence to implement an external reference calibration process. The upper computer 910 is further connected to the control device 110 of the vehicle to receive data sent by the control device 110, perform external reference calibration based on the data sent by the control device 110, and/or control the calibration control device 920 to move the calibration plate 922 to multiple target positions.
In the embodiments of the present application, unless otherwise specified or conflicting in logic, terms and/or descriptions between the various embodiments have consistency and may be mutually cited, and technical features in different embodiments may be combined to form a new embodiment according to their inherent logical relationships.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (17)
1. Calibration plate, characterized in that a first calibration area and a second calibration area are present on the panel of the calibration plate;
the first calibration area surrounds the second calibration area, and the first calibration area is used for identifying the shape of the calibration plate based on image acquisition.
2. Calibration plate according to claim 1, characterized in that the first calibration area exhibits a first color and the second calibration area exhibits a second color, the first and second colors being different.
3. Calibration plate according to claim 2, characterized in that in the hue ring the angle between the hue of the first color and the hue of the second color is larger than 30 degrees.
4. Calibration plate according to any one of claims 1 to 3, wherein the calibration plate is circular and the first calibration area is a circular ring.
5. Calibration plate according to claim 4, characterized in that the ratio of the area of the first calibration region to the area of the calibration plate is smaller than a first preset value.
6. Calibration plate according to any of claims 1 to 3, further comprising a third calibration area, said third calibration area comprising the geometric center of said calibration plate and said second calibration area surrounding said third calibration area, said third calibration area identifying the geometric center of said calibration plate.
7. Calibration plate according to claim 6, wherein the third calibration area presents a different colour than the second calibration area, or wherein the third calibration area is a hollowed-out area.
8. Calibration plate according to claim 6, characterized in that said third calibration area is a circular area centered on the geometric center of the calibration plate.
9. Calibration plate according to claim 8, characterized in that the ratio of the area of the third calibration region to the area of the calibration plate is smaller than a second preset value.
10. Calibration plate according to any one of claims 1-3, 7-9, characterized in that the second calibration area is a solid color area.
11. Calibration plate according to any one of claims 1 to 3, 7 to 9, characterized in that the face plate of the calibration plate is covered with a matt coating.
12. Calibration plate according to any of claims 1 to 3, 7 to 9, characterized in that it further comprises: a connecting device; the connecting device is used for connecting the panel of the calibration plate to the movable device, so that the calibration plate moves along with the movable device.
13. Calibration plate according to claim 12, wherein said connection means are motorized lifting rods, said connection means lifting said calibration plate according to the control of said movable means.
14. Calibration plate according to any of claims 1 to 3, 7 to 9, characterized in that the size of the calibration plate is related to the density of the radar beam probing the calibration plate.
15. A calibration control apparatus, characterized by comprising: calibration control mechanism and a calibration plate as claimed in any one of claims 1 to 14, said calibration control mechanism comprising a movable device and a connection device, one end of said connection device being fixed to said movable device and the other end of said connection device being fixed to said calibration plate;
the movable device is used for controlling the calibration board to move in the horizontal direction and/or the vertical direction.
16. The apparatus of claim 15, wherein the movable device comprises a ground moving device or a flying device.
17. The apparatus according to claim 15 or 16, wherein the connecting means is a liftable device;
the lifting device is used for controlling the calibration plate to move in the vertical direction.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221320519.4U CN218299035U (en) | 2022-05-27 | 2022-05-27 | Calibration plate and calibration control equipment |
| PCT/CN2022/140627 WO2023226403A1 (en) | 2022-05-27 | 2022-12-21 | Calibration board and calibration control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221320519.4U CN218299035U (en) | 2022-05-27 | 2022-05-27 | Calibration plate and calibration control equipment |
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| CN218299035U true CN218299035U (en) | 2023-01-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202221320519.4U Active CN218299035U (en) | 2022-05-27 | 2022-05-27 | Calibration plate and calibration control equipment |
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| Country | Link |
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| CN (1) | CN218299035U (en) |
| WO (1) | WO2023226403A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104794704B (en) * | 2015-03-27 | 2017-11-17 | 华为技术有限公司 | A kind of calibrating template, template detection method, apparatus and terminal |
| CN106780630A (en) * | 2017-01-09 | 2017-05-31 | 上海商泰汽车信息系统有限公司 | Demarcate panel assembly, vehicle-mounted camera scaling method and device, system |
| CN112907676B (en) * | 2019-11-19 | 2022-05-10 | 浙江商汤科技开发有限公司 | Calibration method, device and system of sensor, vehicle, equipment and storage medium |
| CN111123912B (en) * | 2019-11-29 | 2023-01-31 | 苏州智加科技有限公司 | Calibration method and device for travelling crane positioning coordinates |
| WO2022088103A1 (en) * | 2020-10-30 | 2022-05-05 | 华为技术有限公司 | Image calibration method and apparatus |
| CN112859022B (en) * | 2021-01-22 | 2023-08-18 | 上海西井科技股份有限公司 | Method, system, equipment and storage medium for joint calibration of multiple radars and cameras |
| CN215037637U (en) * | 2021-03-18 | 2021-12-07 | 青岛九维华盾科技研究院有限公司 | Camera external parameter calibration device for visual guidance of industrial robot |
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| WO2023226403A1 (en) | 2023-11-30 |
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