WO2002091095A1 - Procede d'etalonnage - Google Patents

Procede d'etalonnage Download PDF

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Publication number
WO2002091095A1
WO2002091095A1 PCT/EP2002/005183 EP0205183W WO02091095A1 WO 2002091095 A1 WO2002091095 A1 WO 2002091095A1 EP 0205183 W EP0205183 W EP 0205183W WO 02091095 A1 WO02091095 A1 WO 02091095A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
reference objects
scanning
sensor
calibration field
Prior art date
Application number
PCT/EP2002/005183
Other languages
German (de)
English (en)
Inventor
Volker Willhoeft
Kay Fürstenberg
Roland Krzikalla
Original Assignee
Ibeo Automobile Sensor Gmbh
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 Ibeo Automobile Sensor Gmbh filed Critical Ibeo Automobile Sensor Gmbh
Priority to EP02735349A priority Critical patent/EP1386202A1/fr
Priority to JP2002588290A priority patent/JP2004527852A/ja
Publication of WO2002091095A1 publication Critical patent/WO2002091095A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • 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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S7/4972—Alignment of sensor

Definitions

  • the invention relates to a method for calibrating an optoelectronic transmitter / receiver device attached to a vehicle for optical detection of the surroundings of the vehicle, in which the vehicle provided with the device is brought into a calibration field formed by a plurality of reference objects, with the device at least a part of the Calibration field is scanned, and if the position and / or orientation of the vehicle in the calibration field is known, the position and / or the orientation of the device on the vehicle is determined from the scanning data obtained by the scanning on the one hand and known calibration field data on the other hand.
  • Vehicle-fixed optoelectronic transmitting / receiving devices which are also referred to simply as sensors below, are suitable for diverse applications.
  • the sensors can be used, for example, to monitor the vehicle environment, for example to detect dangerous situations with pedestrians or cyclists, to serve as parking aids, to ensure a sufficient distance from vehicles in front or to ensure a sufficient distance from the lane boundary.
  • the position and orientation of the sensor on the vehicle must be known.
  • the object of the invention is to provide a method of the type mentioned at the outset, with which at least the mounting or installation location of the optoelectronic transmitting and receiving device on the vehicle and in particular also its orientation on the vehicle are determined in the simplest possible manner and with the highest possible accuracy can, which should in particular be possible regardless of the position of the vehicle at which the transmitting and receiving device is arranged.
  • This object is achieved by the features of claim 1 and in particular in that, by scanning at least part of the calibration field with the device, an image of the known arrangement pattern of the reference objects is determined from the point of view of the device and from the determined image of the arrangement pattern to the Position of the device in the calibration field is closed.
  • a calibration field is used, into which the vehicle is brought for calibrating the transmitter / receiver device or sensor attached to the vehicle or which is arranged in the vicinity of the vehicle.
  • the arrangement of the vehicle and the calibration field is such that the position and / or orientation of the vehicle in the calibration field are known. Both the position and the orientation of the vehicle are preferably known in a coordinate system of the calibration field formed by the reference objects.
  • To determine the mounting or mounting location of the sensor on the vehicle at least part of the calibration field is scanned with the sensor.
  • the scan data obtained in this way represent an image of the calibration field, ie the arrangement pattern of the reference objects, or a part thereof from the point of view of the sensor.
  • the mounting or installation location of the sensor on the vehicle can then be determined from this using the known information about the calibration field and about the arrangement of the vehicle in the calibration field.
  • the senor itself ensures its own calibration, which is preferably carried out automatically using at least one predetermined algorithm.
  • the known calibration field data thus comprise information about the arrangement pattern of the reference objects, i.e. via the coordinates of the reference objects in the calibration field with regard to the coordinate system used in each case.
  • the distances of the reference objects from one another and from a common reference point - the origin of the coordinate system - are known.
  • An advantage of the method according to the invention is that the calibration field is statically scanned with the sensor at rest.
  • the scanning can be repeated any number of times, whereby the accuracy can in principle be increased as desired by using statistical evaluation methods.
  • the static calibration or determination of position and orientation according to the invention is particularly robust against temporary disturbances, for example due to persons or objects entering the calibration field, since these influence only one or a few scanning processes and have practically no influence on the measurement result in a large number of scanning processes.
  • Other types of interference such as, for example, due to raindrops in the beam path, which can distort individual measurements, do not have a disadvantage because of the possibility according to the invention of carrying out a large number of scans.
  • the vehicles can in principle be any type of vehicle, including self-driving vehicles, the invention preferably being used in conjunction with cars and trucks.
  • a camera for example an optoelectronic transmission / reception device, e.g. to provide a video camera with which at least a part of the calibration field is also scanned by taking pictures of the calibration field or the relevant calibration field area and then evaluating them.
  • a laser scanner as the optoelectronic sensor.
  • This is preferably a laser scanner which emits a laser beam in at least one scanning plane and repeatedly sweeps with this scanning beam a predetermined, basically any angular range of up to 360 °.
  • the distance voltage to the objects reflecting the emitted scanning beams is preferably determined according to the time-of-flight method.
  • the scanning radiation can be in the wavelength range visible to the human eye as well as outside this range.
  • a laser scanner is preferably used, which for each distance value supplies an angle value related to a predetermined axis of the scanner.
  • the arrangement pattern of the reference objects is preferably selected in such a way that the images of the arrangement pattern corresponding to the positions of the device in question on the vehicle differ from one another.
  • the reference objects are arranged at a relatively short distance from the vehicle.
  • the lengthening of the calibration field is preferably carried out in such a way that no ambiguities are generated and even in the lengthened calibration field there is still a clear association between the sensor position on the one hand and the determined image on the other hand. It is particularly preferred if the vehicle is brought into a position in which the reference objects are arranged distributed around the vehicle.
  • the vehicle is surrounded on all sides by reference objects during the scanning.
  • the calibration field is independent of the mounting or installation location of the sensor on the vehicle and can in principle be used for any mounting or installation location.
  • the reference objects be arranged in dependence on the size of the field of view of the device in such a way that at least two reference objects are in the field of view of the device for each possible position of the device on the vehicle.
  • reference objects of different object classes are used, which are at least in terms of distinguish a reference feature recognizable with the transceiver.
  • the distinguishing feature can be, for example, the diameter of the reference objects.
  • the reflectivity of the reference objects can be provided, i.e.
  • the reference objects can be given a different reflectivity in such a way that the sensor can distinguish them from each other.
  • objects that do not serve as reference objects can be recognized as such if their reflectivity lies outside a predeterminable range.
  • the reference features of the reference objects are preferably chosen such that the sensor can distinguish the reference objects from other objects located in its field of vision.
  • their diameter can either be selected to be smaller or larger than the diameter of an average human lower leg, so that the sensor is not irritated by persons in the calibration field.
  • At least two reference objects are provided with detection devices for radiation emitted by the device.
  • At least two reference objects are preferably checked to determine whether the reference objects in particular have height-adjustable attachments Detector devices are acted upon by scanning beams of the device.
  • the detection or detector devices can be used to determine information about the height at which the scanning beams emitted by the sensor strike the reference objects. With this information e.g. the pitch angle (tilting about a vehicle transverse axis) and the roll angle (tilting about a vehicle longitudinal axis) of the sensor are determined or it can be determined whether the pitch angle and the roll angle each assume predetermined target values.
  • This information can also be used to determine whether the sensor is attached to the vehicle at a predetermined target height.
  • At least two individual detectors are used for the detector devices and are arranged at a vertical distance from one another on the reference object, in particular in such a way that the individual detectors can be acted upon simultaneously by expanded scanning beams of the device.
  • information about the direction of a deviation from a target orientation can be obtained by determining whether the scanning beams strike the reference object above or below a target height.
  • An expansion of the scanning beams can be used, for example, by interpreting only a simultaneous application of the two vertically spaced individual detectors as the target alignment of the sensor.
  • Height-adjustable detector devices are preferably used on the reference objects, as a result of which simple adaptation to different vehicles, sensors and target orientations of the sensors is possible.
  • the reference object can hereby be adapted to the expansion of the radiation spot which is dependent on the beam expansion and is dependent on its distance from the sensor.
  • the application or non-application of the detector devices is indicated in particular optically.
  • a display device is preferably provided on the respective reference object and in particular directly on the detector device in question. The display is preferably carried out only after a predeterminable intensity value for the incident radiation is exceeded.
  • each individual detector can be provided with a light-emitting diode which lights up when the intensity received at the detector exceeds a predetermined threshold.
  • a user observing the calibration field can determine at a glance when a target alignment of the sensor has been reached.
  • the detection devices can simultaneously measure the intensity of the radiation emitted by the sensor. In this way, regardless of the determination of the position and orientation of the Sensor with the reference objects are checked whether the sensor meets existing safety regulations, especially with regard to eye safety, which is particularly advantageous when using laser scanners.
  • the position and / or the orientation of the transmitting / receiving device with respect to a vehicle axis is determined.
  • This axis is preferably the vehicle axis that coincides with the direction of travel during normal straight-ahead travel.
  • the position and / or the orientation of the transmitting / receiving device is determined with respect to a reference point.
  • this reference point can be located at any location known during the calibration process. This is preferably a reference point fixed to the vehicle.
  • FIG. 1 shows a schematic top view of a vehicle arranged in a calibration field according to an embodiment of the invention
  • Fig. 2 is a view corresponding to FIG. 1 with another
  • Fig. 3 is an illustration for explaining the orientation of a sensor attached to a vehicle.
  • an optoelectronic transmitter / receiver device or a sensor 13 which e.g. a laser scanner delivering an angular value related to a sensor axis is designed as distances and for each distance value.
  • the scanner thus simultaneously serves as a transmitter for outgoing scanning laser beams and as a receiver for radiation reflected from the vehicle surroundings or from the vehicle itself.
  • the transmitter and receiver could also be arranged spatially separated from one another.
  • the vehicle 11 is in a calibration field which is formed by a plurality of reference objects 15, 17, 19, 21 which are positioned around the vehicle 11 in a distributed manner in accordance with a predetermined arrangement pattern.
  • the reference objects are preferably mobile, rod-shaped or rod-shaped objects.
  • the reference objects can be dimensioned or designed so that they can be carried easily in the trunk of the vehicle 11. The calibration of the sensor 13 can thus be carried out by the driver at any time and at any location.
  • the calibration field can be implemented in any way.
  • the reference objects are integrated into the production line in the form of reflection marks and are used to check the correct position and orientation on the vehicle after the sensor has been installed.
  • the reference objects are arranged along two parallel lines 23, which run parallel and at the same distance from the longitudinal axis of the vehicle 11 which coincides with the direction of travel F when driving straight ahead.
  • the lines 23 can be formed, for example, by the road boundary or the lane marking.
  • the reference objects 15, 17, 19, 21 indicated by circles of different sizes and blackening are selected from a total of four different object classes in the example shown.
  • the object classes differ, for example, by different diameters of the respective reference objects, which the sensor 13 can distinguish from one another as a result.
  • the arrangement pattern of the reference objects 15, 17, 19, 21 is selected in such a way that the sensor 13 "sees” the calibration field differently for each possible installation or installation location of the sensor 13 on the vehicle 11 from what the sensor 13 "sees", that is, it can be unambiguously inferred from its position in the calibration field.
  • the senor 13 is activated, whereupon according to its field of view, for example an angular range of 360 °, 270 °, 180 ° or 90 °, the entire calibration field or a part thereof is scanned by sending and receiving scanning beams.
  • a laser scanner is preferably used as the sensor 13, which is capable of 360 ° scanning.
  • the position of the sensor 13 in the calibration field with respect to one determined by the x and y-axes indicated coordinate system is calculated.
  • the mounting or installation location of the sensor 13 on the vehicle 11 can then be determined from the knowledge of the position and the orientation of the vehicle 11 in this coordinate system.
  • the vehicle 11 is preferably aligned in the calibration field such that - with respect to a projection onto the x-y plane - the x-axis coincides with the central longitudinal axis of the vehicle 11 and the y-axis with its rear axle.
  • the calibration preferably includes plausibility checks with which results are rejected, according to which the sensor 13 should be in a position or should behave in a manner that contradicts the actual conditions, which can be taken into account in the evaluation by determining that the result Must meet conditions. For example, if it is known that the sensor 13 according to FIG. 1 is attached to the side and outside of the vehicle 11, results are rejected, according to which the sensor 13 should lie inside or outside the outer contour of the vehicle 11.
  • the calibration according to the invention can also be carried out with sensors mounted on the vehicle roof or on the underside of the vehicle 11. In this case, results according to which the sensor lies inside or outside the outer contour of the vehicle 11 are not rejected, but other known sensor properties can be used as conditions to be fulfilled, for example the field of vision or the direction of view of the sensor.
  • the known diameter of the reference objects 15, 17, 19, 21 can be used to increase the accuracy of the position determination by taking the finite extent of the reference objects into account in the evaluation.
  • FIG. 1 shows the total of ten reference objects 15, 17, 19, 21 in the calibration field according to FIG. 1 in such a way that the sensor 13 detects more than two reference objects regardless of its mounting or installation location on the outside of the vehicle 11 during each scanning process and thus If the variant shown in FIG. 2 is overdetermined, sensor positions are also possible, for example on the front or on the rear of the vehicle 11, for which even with a 360 ° scanner there are only two reference objects in its field of vision.
  • FIG. 3 shows the determination or checking of the mounting or mounting height of the sensor 13 on the vehicle 11 and the sensor alignment, ie the orientation of the scanning plane 25 of the sensor 13.
  • At least two reference objects are each provided with an electrically operated detector device in the form of two individual detectors 29, 31, which are attached to the reference rod 15 so as to be adjustable in height.
  • the detectors 29, 31 are provided with receiving elements sensitive to the radiation emitted by the sensor 13 and facing the sensor 13. As soon as the radiation impinging on these receivers exceeds a predefined threshold value, one is transmitted directly to the respective one
  • Detector 29, 31 attached optical signaling device e.g. activated in the form of a light emitting diode.
  • the lighting up of the light-emitting diode thus indicates the impact of a scanning beam 33 from the sensor 13 on the detector 29, 31 concerned.
  • the two detectors 29, 31 are vertically spaced from one another in such a way that the laser spot, which has a finite vertical extent due to the expansion of the laser scanning beam 33 on the reference object 15, simultaneously both detectors 29, 31, each with a sufficient to exceed a preset threshold Intensity applied and thus detected by both detectors 29, 31.
  • both LEDs light up, which means that the A correct orientation of the scanning plane 25 is signaled by the reference object 15.
  • a horizontal orientation of the scanning plane 25 is preferably sought.
  • the detectors 29, 31 are fixed to the at least two reference objects 15, taking into account the distance-dependent laser spot size, at a height which, with the scanning plane 25 running horizontally, leads to simultaneous exposure of both detectors 29, 31 with a sufficiently high intensity.
  • both light-emitting diodes on both reference objects 15 light up during the subsequent calibration, the desired horizontal alignment of the sensor 13 is thereby indicated.
  • a display for example in the form of a so-called bar graph, can also be provided on the detectors 29, 31, from which the intensity of the incident radiation can be read. Regardless of the absolute value of the radiation intensity, it can thus be determined whether both detectors 29, 31 are subjected to the same or different intensities, that is to say the sensor 13 is correctly aligned or is set too high or too low. With the aid of the height-adjustable detectors 29, 31, in principle, any desired target orientation of the sensor scanning plane 25 can be set or verified.
  • the invention is not restricted to sensors that emit radiation in a scanning plane. Basically, according to the invention, the radiation emitted can assume any spatial shape.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Optics & Photonics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé permettant d'étalonner un dispositif émetteur-récepteur (13) optoélectronique équipant un véhicule (11), ledit dispositif étant conçu pour la détection optique de l'environnement du véhicule. Selon ce procédé, le véhicule pourvu du dispositif est placé dans un champ d'étalonnage représenté par plusieurs objets de référence (15, 17, 19, 21), au moins une partie du champ d'étalonnage est balayée à l'aide du dispositif, et la position et/ou l'orientation du véhicule est/sont déterminée(s) en fonction de la position et/ou de l'orientation connue(s) du véhicule dans le champ d'étalonnage, obtenue(s) d'une part au moyen des données de balayage, et d'autre part à l'aide des données de champ d'étalonnage connues. Ledit procédé est caractérisé en ce que le balayage d'au moins une partie du champ d'étalonnage au moyen du dispositif permet d'obtenir une image du modèle connu de disposition des objets de référence (15, 17, 19, 21) telle que perçue par le dispositif, et en ce que l'image du modèle de disposition obtenue révèle la position du dispositif dans le champ d'étalonnage.
PCT/EP2002/005183 2001-05-10 2002-05-10 Procede d'etalonnage WO2002091095A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP02735349A EP1386202A1 (fr) 2001-05-10 2002-05-10 Procede d'etalonnage
JP2002588290A JP2004527852A (ja) 2001-05-10 2002-05-10 オプトエレクトロニクス装置の校正方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10122664.0 2001-05-10
DE10122664A DE10122664A1 (de) 2001-05-10 2001-05-10 Kalibrierverfahren

Publications (1)

Publication Number Publication Date
WO2002091095A1 true WO2002091095A1 (fr) 2002-11-14

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ID=7684255

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2002/005183 WO2002091095A1 (fr) 2001-05-10 2002-05-10 Procede d'etalonnage

Country Status (4)

Country Link
EP (1) EP1386202A1 (fr)
JP (1) JP2004527852A (fr)
DE (1) DE10122664A1 (fr)
WO (1) WO2002091095A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2396005A (en) * 2002-10-02 2004-06-09 Bosch Gmbh Robert Calibrating an image sensor system in an automotive vehicle
EP2196884A1 (fr) * 2008-12-12 2010-06-16 Honda Motor Co., Ltd. Procédé de vérification du fonctionnement pour appareil mobile autonome et feuille de vérification correspondante
GB2540816A (en) * 2015-07-30 2017-02-01 Guidance Automation Ltd Calibrating an automated guided vehicle
CN114353729A (zh) * 2021-07-19 2022-04-15 襄阳达安汽车检测中心有限公司 一种车辆中心线的标定方法和系统

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DE10217295B4 (de) * 2002-04-18 2014-05-15 Ibeo Automotive Systems GmbH Bestimmung der Ausrichtung eines optoelektronischen Sensors
EP1584946A3 (fr) 2004-04-02 2006-03-22 Omron Corporation Méthode pour le réglage de l'axe optique des capteurs optiques
DE102005054658A1 (de) 2005-11-16 2007-05-24 Sick Ag Verfahren zur automatischen Paramentierung von Meßsystemen
DE102006012237B3 (de) * 2006-03-16 2007-04-05 Siemens Ag Vorrichtung und Verfahren zum Ermitteln der Sensorposition von Sensoreinheiten eines Fahrerassistenzsystems
DE102015105720A1 (de) * 2015-04-15 2016-10-20 Valeo Schalter Und Sensoren Gmbh Verfahren zum Bestimmen einer jeweiligen Einbauposition von zumindest zwei Sensoren eines Kraftfahrzeugs, Steuereinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102015119707B8 (de) * 2015-11-16 2017-08-24 Sick Ag Verfahren zum Ausrichten eines Laserscanners und Laserscanneranordnung
CN109215083B (zh) 2017-07-06 2021-08-31 华为技术有限公司 车载传感器的外部参数标定的方法和设备
EP3454075B1 (fr) * 2017-09-11 2021-10-06 Nxp B.V. Étalonnage d'un système de détection d'objets
DE102018133693B3 (de) * 2018-12-28 2020-06-04 Volkswagen Aktiengesellschaft Verfahren zur Kalibrierung der Ausrichtung eines sich bewegenden Objektsensors
DE102022210941B4 (de) * 2022-10-17 2024-08-01 Continental Autonomous Mobility Germany GmbH Verfahren und Anordnung zur Kalibrierung eines oder mehrerer Sensoren eines Sensorträgers

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GB2259823A (en) * 1991-09-17 1993-03-24 Radamec Epo Limited Navigation system
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EP0706105A1 (fr) * 1994-10-04 1996-04-10 Consorzio Telerobot Système de navigation pour un robot mobile autonome
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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2396005A (en) * 2002-10-02 2004-06-09 Bosch Gmbh Robert Calibrating an image sensor system in an automotive vehicle
GB2396005B (en) * 2002-10-02 2005-04-27 Bosch Gmbh Robert Method and device for calibrating an image sensor system in an automotive vehicle
EP2196884A1 (fr) * 2008-12-12 2010-06-16 Honda Motor Co., Ltd. Procédé de vérification du fonctionnement pour appareil mobile autonome et feuille de vérification correspondante
US8170738B2 (en) 2008-12-12 2012-05-01 Honda Motor Co., Ltd Performance inspection method for autonomous mobile apparatus, and performance inspection sheet therefor
GB2540816A (en) * 2015-07-30 2017-02-01 Guidance Automation Ltd Calibrating an automated guided vehicle
GB2540816B (en) * 2015-07-30 2021-10-27 Guidance Automation Ltd Calibrating an Automated Guided Vehicle
CN114353729A (zh) * 2021-07-19 2022-04-15 襄阳达安汽车检测中心有限公司 一种车辆中心线的标定方法和系统
CN114353729B (zh) * 2021-07-19 2024-05-03 襄阳达安汽车检测中心有限公司 一种车辆中心线的标定方法和系统

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Publication number Publication date
EP1386202A1 (fr) 2004-02-04
DE10122664A1 (de) 2002-11-14
JP2004527852A (ja) 2004-09-09

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