JP5950122B2 - キャリブレーション装置、キャリブレーション方法およびキャリブレーションプログラム - Google Patents

キャリブレーション装置、キャリブレーション方法およびキャリブレーションプログラム Download PDF

Info

Publication number
JP5950122B2
JP5950122B2 JP2013273079A JP2013273079A JP5950122B2 JP 5950122 B2 JP5950122 B2 JP 5950122B2 JP 2013273079 A JP2013273079 A JP 2013273079A JP 2013273079 A JP2013273079 A JP 2013273079A JP 5950122 B2 JP5950122 B2 JP 5950122B2
Authority
JP
Japan
Prior art keywords
distance sensors
pair
distance
group
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2013273079A
Other languages
English (en)
Japanese (ja)
Other versions
JP2015127664A5 (enExample
JP2015127664A (ja
Inventor
フェアチャイルド グラス ディラン
フェアチャイルド グラス ディラン
フェレリ フローラン
フェレリ フローラン
敬宏 宮下
敬宏 宮下
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ATR Advanced Telecommunications Research Institute International
Original Assignee
ATR Advanced Telecommunications Research Institute International
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ATR Advanced Telecommunications Research Institute International filed Critical ATR Advanced Telecommunications Research Institute International
Priority to JP2013273079A priority Critical patent/JP5950122B2/ja
Priority to CN201480071352.4A priority patent/CN105874350B/zh
Priority to PCT/JP2014/084166 priority patent/WO2015098971A1/ja
Publication of JP2015127664A publication Critical patent/JP2015127664A/ja
Publication of JP2015127664A5 publication Critical patent/JP2015127664A5/ja
Priority to US15/192,118 priority patent/US10324172B2/en
Application granted granted Critical
Publication of JP5950122B2 publication Critical patent/JP5950122B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/66—Tracking systems using electromagnetic waves other than radio waves
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Traffic Control Systems (AREA)
JP2013273079A 2013-12-27 2013-12-27 キャリブレーション装置、キャリブレーション方法およびキャリブレーションプログラム Active JP5950122B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2013273079A JP5950122B2 (ja) 2013-12-27 2013-12-27 キャリブレーション装置、キャリブレーション方法およびキャリブレーションプログラム
CN201480071352.4A CN105874350B (zh) 2013-12-27 2014-12-24 校准装置、校准方法及校准程序
PCT/JP2014/084166 WO2015098971A1 (ja) 2013-12-27 2014-12-24 キャリブレーション装置、キャリブレーション方法およびキャリブレーションプログラム
US15/192,118 US10324172B2 (en) 2013-12-27 2016-06-24 Calibration apparatus, calibration method and calibration program

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2013273079A JP5950122B2 (ja) 2013-12-27 2013-12-27 キャリブレーション装置、キャリブレーション方法およびキャリブレーションプログラム

Publications (3)

Publication Number Publication Date
JP2015127664A JP2015127664A (ja) 2015-07-09
JP2015127664A5 JP2015127664A5 (enExample) 2016-03-03
JP5950122B2 true JP5950122B2 (ja) 2016-07-13

Family

ID=53478821

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2013273079A Active JP5950122B2 (ja) 2013-12-27 2013-12-27 キャリブレーション装置、キャリブレーション方法およびキャリブレーションプログラム

Country Status (4)

Country Link
US (1) US10324172B2 (enExample)
JP (1) JP5950122B2 (enExample)
CN (1) CN105874350B (enExample)
WO (1) WO2015098971A1 (enExample)

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2015234329A1 (en) * 2015-09-30 2017-04-13 Canon Kabushiki Kaisha Method, system and apparatus for processing an image
JP6746050B2 (ja) * 2015-11-25 2020-08-26 株式会社国際電気通信基礎技術研究所 キャリブレーション装置、キャリブレーション方法およびキャリブレーションプログラム
JP6754574B2 (ja) * 2016-01-18 2020-09-16 株式会社日立情報通信エンジニアリング 移動体計測システム、及び計測対象の領域における人物の数を特定する方法
KR101932041B1 (ko) * 2017-03-02 2018-12-24 충북대학교 산학협력단 듀얼 라이다 센서 캘리브레이션 방법 및 장치
CN107229043B (zh) * 2017-05-22 2019-04-09 中国农业科学院农业资源与农业区划研究所 一种距离传感器外参数标定方法和系统
US20190004160A1 (en) * 2017-06-30 2019-01-03 Delphi Technologies, Inc. Lidar sensor alignment system
JP6941226B2 (ja) * 2018-03-22 2021-09-29 日立Astemo株式会社 物体認識装置
US10823845B2 (en) * 2018-06-24 2020-11-03 Mitsubishi Electric Research Laboratories, Inc. System and method for robust sensor localization based on euclidean distance matrix
EP3818341A4 (en) * 2018-07-06 2022-03-16 Brain Corporation SYSTEMS, METHODS AND APPARATUS FOR CALIBRATE DEVICE MOUNTED SENSORS
CA3110691A1 (en) 2018-08-24 2020-02-27 Lutron Technology Company Llc Occupant detection device
CN109059902B (zh) 2018-09-07 2021-05-28 百度在线网络技术（北京）有限公司 相对位姿确定方法、装置、设备和介质
WO2020255229A1 (ja) * 2019-06-17 2020-12-24 オムロン株式会社 計測装置、計測方法、及び計測プログラム
CN110319853A (zh) * 2019-07-19 2019-10-11 广州市番通汽车检测有限公司 一种方便校准的汽车姿势测量系统
JP7363545B2 (ja) * 2020-02-05 2023-10-18 沖電気工業株式会社 キャリブレーション判定結果提示装置、キャリブレーション判定結果提示方法及びプログラム
DE102020202800A1 (de) * 2020-03-05 2021-09-09 Robert Bosch Gesellschaft mit beschränkter Haftung Ermitteln von Reichweiteneinschränkungen für LIDAR-Vorrichtungen
JP7338048B2 (ja) * 2020-04-27 2023-09-04 株式会社日立産機システム 移動体システム
CN111457943A (zh) * 2020-05-13 2020-07-28 深圳市中联讯科技有限公司 传感器自动校准设备及校准方法
JP7286586B2 (ja) * 2020-05-14 2023-06-05 株式会社日立エルジーデータストレージ 測距システム及び測距センサのキャリブレーション方法
CN112362084A (zh) * 2020-11-23 2021-02-12 北京三快在线科技有限公司 一种数据标定方法、装置及数据标定系统
CN112729317B (zh) * 2020-12-17 2023-09-19 大陆投资(中国)有限公司 用于定位车辆的方法和车载系统
CN113092681B (zh) * 2021-04-02 2023-01-17 河北先河环保科技股份有限公司 用于网格化监控网络的传感器配对方法及系统
CN113298194B (zh) * 2021-07-26 2021-10-19 中大检测(湖南)股份有限公司 一种基于多传感器的数据融合方法、系统及存储介质
CN114166133B (zh) * 2021-11-24 2023-05-23 岚图汽车科技有限公司 一种高度传感器标定方法、装置、设备及可读存储介质
CN114510516B (zh) * 2022-02-21 2024-06-25 重庆大学 一种多传感器数据时间标签对齐方法
JP2023159835A (ja) * 2022-04-20 2023-11-01 株式会社日立エルジーデータストレージ 測距システム及び測距センサのキャリブレーション方法

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5793483A (en) * 1996-02-07 1998-08-11 Visidyne, Inc. Optical measurement system
US6522288B1 (en) * 2002-01-09 2003-02-18 M/A-Com, Inc. Method and apparatus for determining location of objects based on range readings from multiple sensors
US7433021B2 (en) * 2004-08-10 2008-10-07 Joseph Saltsman Stereoscopic targeting, tracking and navigation device, system and method
JP2010127650A (ja) * 2008-11-25 2010-06-10 Nippon Telegr & Teleph Corp <Ntt> 移動体位置推定システムと移動体位置推定方法及び移動体位置推定プログラム
US8760521B2 (en) * 2009-05-15 2014-06-24 Purdue Research Foundation Calibration of large camera networks
US9047779B2 (en) * 2010-05-19 2015-06-02 Mitsubishi Electric Corporation Vehicle rear view monitoring device
JP5712373B2 (ja) * 2010-10-19 2015-05-07 株式会社国際電気通信基礎技術研究所 距離センサのキャリブレーション装置、キャリブレーションプログラムおよびキャリブレーション方法
JP5879877B2 (ja) * 2011-09-28 2016-03-08 沖電気工業株式会社 画像処理装置、画像処理方法、プログラム、および画像処理システム
US10061028B2 (en) * 2013-09-05 2018-08-28 Texas Instruments Incorporated Time-of-flight (TOF) assisted structured light imaging

Also Published As

Publication number Publication date
CN105874350B (zh) 2018-08-28
CN105874350A (zh) 2016-08-17
WO2015098971A1 (ja) 2015-07-02
US20160356882A1 (en) 2016-12-08
US10324172B2 (en) 2019-06-18
JP2015127664A (ja) 2015-07-09

Similar Documents

Publication Publication Date Title
JP5950122B2 (ja) キャリブレーション装置、キャリブレーション方法およびキャリブレーションプログラム
JP5746477B2 (ja) モデル生成装置、３次元計測装置、それらの制御方法及びプログラム
JP5548482B2 (ja) 位置姿勢計測装置、位置姿勢計測方法、プログラム及び記憶媒体
JP5671281B2 (ja) 位置姿勢計測装置、位置姿勢計測装置の制御方法及びプログラム
US10636168B2 (en) Image processing apparatus, method, and program
JP6746050B2 (ja) キャリブレーション装置、キャリブレーション方法およびキャリブレーションプログラム
US11822340B2 (en) Method and system for obstacle avoidance in robot path planning using depth sensors
JP6601613B2 (ja) 位置推定方法、位置推定装置及び位置推定プログラム
CN104732514A (zh) 用于处理高度图的设备、系统和方法
JP2012128661A (ja) 情報処理装置、情報処理方法及びプログラム
JP2015002547A (ja) 画像処理装置、プログラム、および画像処理方法
JP2017004228A (ja) 軌跡推定方法、軌跡推定装置及び軌跡推定プログラム
JP5976089B2 (ja) 位置姿勢計測装置、位置姿勢計測方法、およびプログラム
Ruotsalainen et al. Visual-aided two-dimensional pedestrian indoor navigation with a smartphone
US20240119620A1 (en) Posture estimation apparatus, posture estimation method, and computer-readable recording medium
Utz et al. Improving vision-based self-localization
Liu et al. Outdoor camera calibration method for a GPS & camera based surveillance system
US20230260149A1 (en) Position-posture estimation device, position-posture estimation method, and storage medium storing program
Liu et al. Absolute orientation and localization estimation from an omnidirectional image
CN112781591A (zh) 机器人定位方法、装置、计算机可读存储介质及机器人
CN116635891B (en) Position/orientation estimation device, position/orientation estimation method, and recording medium containing program
JP4332629B2 (ja) 量子化誤差を軽減する距離計測方法及び距離計測システム
Wang et al. Improved simultaneous localization and mapping by stereo camera and SURF
Kirnos et al. Landmarks Detection by Contour Analysis in the Problem of SLAM.
CN121067857A (zh) 一种amr机器人在位置丢失后的自我纠正方法及系统

Legal Events

Date Code Title Description
RD02 Notification of acceptance of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7422

Effective date: 20150817

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20160119

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20160122

A871 Explanation of circumstances concerning accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A871

Effective date: 20160122

A975 Report on accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A971005

Effective date: 20160219

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20160517

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20160524

R150 Certificate of patent or registration of utility model

Ref document number: 5950122

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250