WO2020154936A1

WO2020154936A1 - Method and apparatus for calibrating external parameters of radar, and storage medium

Info

Publication number: WO2020154936A1
Application number: PCT/CN2019/073804
Authority: WO
Inventors: 王涵
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-01-30
Filing date: 2019-01-30
Publication date: 2020-08-06
Also published as: CN111771137A

Abstract

Provided are a method and apparatus for calibrating external parameters of a radar, and a storage medium. According to the embodiments of the present invention, by means of providing a user interaction interface, a user can visually input external parameters in a parameter input area of the user interaction interface, and can perform, according to the external parameters that respectively correspond to a plurality of radars and are input in the parameter input area by the user, position conversion on a point cloud detected by each radar from among the plurality of radars; and if the point clouds subjected to position conversion are not in the same coordinate system, the user can visually adjust, in the parameter input area, the external parameters respectively corresponding to the plurality of radars to determine target external parameters of each radar, such that the point cloud detected by each radar is located in the same coordinate system after being subjected to position conversion according to the target external parameters of each radar. Thus, without a very complicated algorithm design and rational code writing work, the user can easily determine a conversion relationship between different radars located on the same mobile platform.

Description

Radar external parameter calibration method, device and storage medium

Technical field

The embodiments of the present invention relate to the field of radar, and in particular to a method, device and storage medium for calibrating radar external parameters.

Background technique

Lidar is a radar system that emits laser beams to detect the position and speed of the target. Its working principle is to transmit a detection signal (laser beam) to the target, and then compare the received signal reflected from the target (target echo) with the transmitted signal, and after appropriate processing, the relevant information of the target can be obtained, such as Target distance, azimuth, height, speed, attitude, and even shape and other parameters. A large number of target points detected by lidar constitute a point cloud.

Usually mobile platforms, such as vehicles, drones, and mobile robots, can be equipped with multiple lidars. The point cloud output by each lidar is referenced to the lidar coordinate system, resulting in different lidar outputs The point cloud corresponds to a different coordinate system. In order to convert the point clouds output by multiple lidars to the same coordinate system, the conversion relationship between different lidar coordinate systems needs to be determined, that is, the external parameters of different lidars. This external parameter is recorded as an external parameter.

However, determining the conversion relationship between different lidar coordinate systems requires very complex algorithm design and reasonable code writing, which makes it difficult to determine the conversion relationship between different lidar coordinate systems.

Summary of the invention

The embodiments of the present invention provide a method, device and storage medium for calibrating radar external parameters, so that users can easily determine different radars located on the same movable platform without requiring very complicated algorithm design and reasonable code writing work. The conversion relationship between.

The first aspect of the embodiments of the present invention is to provide a method for calibrating radar external parameters, which includes:

Provide a user interaction interface, the user interaction interface includes a parameter input area and a display area, the parameter input area is used for the user to visually input external parameters, and the display area is used to display the point cloud detected by the radar;

Acquiring external parameters corresponding to multiple radars input by a user in the parameter input area, and the multiple radars are set on the same movable platform;

Performing position conversion on the point cloud detected by each radar in the plurality of radars according to the external parameters respectively corresponding to the plurality of radars;

If the point cloud after the position conversion is not in the same coordinate system, acquire the user's adjustment operation on the external parameter on the user interaction interface to determine the target external parameter of each radar, so that The point cloud detected by each radar is located in the same coordinate system after being transformed by the target external parameters of each radar.

The second aspect of the embodiments of the present invention is to provide a radar external parameter calibration device, including: a memory, a processor, and a display component. The display component is used to display a user interaction interface. The user interaction interface includes a parameter input area and a display. Area, the parameter input area is used for the user to visually input external parameters, and the display area is used to display the point cloud detected by the radar;

The memory is used to store program code;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

A third aspect of the embodiments of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the method described in the first aspect.

The radar external parameter calibration method, device and storage medium provided in this embodiment provide a user interaction interface so that the user can visually input external parameters in the parameter input area of the user interaction interface, and according to the user’s input in the parameter input area The inputted multiple radars correspond to the external parameters, and the position conversion of the point cloud detected by each radar of the multiple radars is performed. If the point cloud after the position conversion is not in the same coordinate system, the user can enter the parameter input area Visually adjust the corresponding external parameters of multiple radars to determine the target external parameters of each radar, so that the point cloud detected by each radar is located in the same coordinate system after the position conversion of the target external parameters of each radar. This allows users to easily determine the conversion relationship between different radars on the same movable platform without the need for very complex algorithm design and reasonable code writing.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings may be obtained based on these drawings without creative labor.

FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the present invention;

2 is a schematic diagram of another application scenario provided by an embodiment of the present invention;

3 is a flowchart of a method for calibrating radar external parameters provided by an embodiment of the present invention;

4 is a schematic diagram of a user interaction interface provided by an embodiment of the present invention;

FIG. 5 is a schematic diagram of another user interaction interface provided by an embodiment of the present invention;

FIG. 6 is a schematic diagram of another user interaction interface provided by an embodiment of the present invention;

FIG. 7 is a schematic diagram of another user interaction interface provided by an embodiment of the present invention;

8 is a flowchart of a method for calibrating radar external parameters provided by another embodiment of the present invention;

Figure 9 is a structural diagram of a radar external parameter calibration device provided by an embodiment of the present invention.

Reference signs:

11: Vehicle; 12: Terminal equipment; 20: UAV;

21: Communication module; 22: Terminal equipment; 40: User interaction interface;

41: parameter input area; 42: display area; 43: input box;

44: Adjustment icon; 45: Adjustment icon; 90: Radar external reference calibration device;

91: Memory; 92: Processing; 93: Display component.

detailed description

The technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or a central component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to another component or a centered component may exist at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Fig. 1 is a schematic diagram of an application scenario provided by an embodiment of the present invention. The movable platform is, for example, the vehicle 11 shown in FIG. 1. The vehicle 11 is provided with a radar, such as a lidar. Optionally, the vehicle 11 is provided with a plurality of lidars. Since the point cloud output by each laser radar is based on the coordinate system of the laser radar, the coordinate system corresponding to the point cloud output by different laser radars is different. Therefore, in order to be able to convert the point clouds respectively output by multiple lidars to the same coordinate system, it is necessary to determine the conversion relationship between different lidar coordinate systems, that is, the external parameters of different lidars, which are recorded as external parameters. As shown in FIG. 1, the vehicle 11 may send the point clouds output by multiple lidars to the terminal device 12, and the terminal device 12 determines the external parameters of each lidar according to the point clouds output by the multiple lidars. Wherein, the terminal device 12 can be placed in the vehicle 11. Alternatively, the terminal device 12 may not be placed in the vehicle 11, but may communicate with the vehicle 11 over a long distance.

Figure 2 is a schematic diagram of another application scenario provided by an embodiment of the present invention. In this application scenario, the movable platform is, for example, the UAV 20 shown in FIG. 2, and the UAV 20 may be equipped with multiple radars, such as multiple lidars. 21 denotes the communication module of the UAV 20. The UAV 20 can send the point clouds output by multiple lidars to the terminal device 22 through the communication module 21. The terminal device 22 may be a remote control, a mobile phone, a tablet computer, Laptop etc. The terminal device 22 determines the external parameters of each laser radar according to the point clouds respectively output by multiple laser radars. The following describes the calibration method of radar external parameters in conjunction with specific embodiments.

The embodiment of the present invention provides a method for calibrating radar external parameters. Fig. 3 is a flowchart of a method for calibrating radar external parameters provided by an embodiment of the present invention. As shown in Figure 3, the method in this embodiment may include:

Step S301: Provide a user interaction interface. The user interaction interface includes a parameter input area and a display area, the parameter input area is used for the user to visually input external parameters, and the display area is used to display the point cloud detected by the radar.

The terminal device shown in FIG. 1 or FIG. 2 may be provided with a user interaction interface as shown in FIG. 4. Specifically, as shown in FIG. 4, the user interaction interface 40 includes: a parameter input area 41 and a display area 42. Optionally, the parameter input area includes identification information of each radar. Taking FIG. 2 as an example, assuming that the drone 20 is equipped with three lidars, correspondingly, the parameter input area 41 displays the identification information of each of the three lidars, for example, 0T9DFBC0040418, 0T9DFBC0040429, and 0T9DFBC0040436. In addition, the parameter input area 41 also displays the external parameters corresponding to each lidar. The external parameters include six variables, for example, Roll, Pitch, Yaw, X, Y, and Z. Among them, Roll, Pitch, Yaw are rotation variables, and X, Y, and Z are translation variables. The point cloud output by each lidar can be converted in space through the external parameters of the corresponding lidar. For example, the point cloud output by the lidar identified by 0T9DFBC0040418 can be passed through the Roll, Pitch, Yaw in the external parameters of the lidar. Rotate and translate through X, Y, Z in the external parameters of the lidar, so as to realize the position conversion of the point cloud in space. In the initial state, the six variables of the external parameters of each lidar can be zero.

In addition, when the terminal device receives a movable platform, such as a point cloud detected by multiple lidars mounted on the drone, the terminal device can also detect the multiple lidar points. The cloud is displayed in the display area 42. As shown in Figure 5, the six variables of the external parameters of each lidar are 0, and the point cloud displayed in the display area is the point cloud detected by multiple lidars. It can be understood that when the six variables of the external parameters of the lidar are all 0, the point cloud detected by the lidar is rotated by Roll, Pitch, and Yaw, and translated by X, Y, and Z. The cloud does not change position in space.

Step S302: Obtain external parameters corresponding to multiple radars input by the user in the parameter input area, and the multiple radars are set on the same movable platform.

In this embodiment, the user can visually input the external parameters corresponding to multiple lidars in the parameter input area 41. The multiple lidars are set on the same movable platform. For example, the multiple lidars are set at the same time. On the same drone.

In some embodiments, the parameter input area of the user interaction interface includes an input box of external parameters corresponding to each radar. Optionally, the obtaining the external parameters corresponding to the multiple radars input by the user in the parameter input area includes: obtaining the external parameters input by the user in the input box.

As shown in Figure 4, the parameter input area 41 includes an input box for external parameters corresponding to each radar. For example, 43 is an input box for Roll in the external parameters of the radar identified by 0T9DFBC0040418. In the input box 43, the user can input Any value, the value is the value of Roll in the external parameters of the radar set by the user. As shown in FIG. 6, the user enters 45 in the input box 43. Correspondingly, the terminal device can determine the value of Roll in the external parameter of the radar identified by 0T9DFBC0040418 set by the user according to the value entered by the user in the input box 43. In the same way, the user can use this method to set other external parameter values of the radar, as well as the external parameter values of the radar identified by 0T9DFBC0040429 and 0T9DFBC0040436 respectively. As shown in Figure 7, the user has set the external parameter values corresponding to the three radars in the parameter input area.

Step S303: Perform position conversion on the point cloud detected by each radar in the multiple radars according to the external parameters corresponding to the multiple radars.

For example, the terminal device performs position conversion on the point cloud detected by the corresponding radar according to the external parameters corresponding to each of the three radars. As shown in Figure 7, the terminal equipment detects the points detected by the radar according to the external parameters of the radar identified by 0T9DFBC0040418, namely Roll=0, Pitch=1.1, Yaw=-60.6, X=0.1, Y=0.05, and Z=0 The cloud performs location conversion.

Since the external parameter of the radar identified by 0T9DFBC0040429 is 0, the position of the point cloud detected by the radar identified by 0T9DFBC0040429 is converted by the external parameter, and the position of the point cloud does not change.

The terminal device performs position conversion on the point cloud detected by the radar according to the external parameters of the radar identified by 0T9DFBC0040436, namely Roll=0, Pitch=0.8, Yaw=60.2, X=0.06, Y=0, Z=0.03.

In some embodiments, after the position conversion is performed on the point cloud detected by each radar in the plurality of radars according to the external parameters respectively corresponding to the plurality of radars, the method further includes: The area displays the point cloud after the position conversion. As shown in Figure 7, when the terminal device converts the position of the point cloud detected by the corresponding radar according to the external parameters corresponding to each of the three radars, it can further display the point cloud after the position conversion on the display Area, as shown in the left part of Figure 7. The point cloud after the position conversion includes: the point cloud detected by the radar identified by 0T9DFBC0040418 after Roll=0, Pitch=1.1, Yaw=-60.6, X=0.1, Y=0.05, Z=0 after the position conversion The cloud, the point cloud detected by the radar identified by 0T9DFBC0040429, and the point cloud detected by the radar identified by 0T9DFBC0040436 are positioned after Roll=0, Pitch=0.8, Yaw=60.2, X=0.06, Y=0, Z=0.03 The converted point cloud.

Step S304: If the point cloud after the position conversion is not in the same coordinate system, obtain the adjustment operation of the user on the external parameter on the user interaction interface to determine the target external parameter of each radar , So that the point cloud detected by each radar is located in the same coordinate system after performing position conversion on the target external parameters of each radar.

The user observes the left part as shown in Figure 7 to determine whether the point cloud after the position conversion is in the same coordinate system. If the user determines that the point cloud after the position conversion is not in the same coordinate system, the user can Adjust the external parameters of at least one radar on the user interaction interface. Correspondingly, the terminal device obtains the user's adjustment operation on the external parameter on the user interaction interface.

Optionally, the acquiring the user's adjustment operation on the external parameter on the user interaction interface includes: acquiring the user's modification operation on the external parameter in the input box. As shown in Figure 7, the user can re-enter the external parameters of each radar in the input box. Or, the user can first click the "update" icon to reset the external parameters of each radar to 0, and then re-enter the external parameters of each radar in the input box. Correspondingly, the terminal device obtains the user's external parameter modification operation according to the external parameter re-entered by the user in the input box and/or the user's click operation on the "update" icon.

When the user completes the modification of the external parameters of each radar, the user can click the "confirm" icon as shown in Figure 7. At this time, the terminal device can check the detected external parameters of each radar according to the modified external parameters of each radar. The point cloud performs position conversion, and the point cloud after the position conversion is further displayed in the display area. If the point cloud after the position conversion is not in the same coordinate system, the user can continue to adjust the external parameters of each radar. That is to say, when the external parameters of at least one radar change, the position of the point cloud detected by the radar in the display area will change. The user can continuously adjust the external parameters of each radar and continuously observe the point cloud displayed in the display area. When the point cloud displayed in the display area is in the same coordinate system, enter the input box corresponding to each radar identifier in the user interaction interface The displayed input value is the target external parameter of the radar.

In some other embodiments, the user interaction interface includes: at least one adjustment icon; the acquiring the user's adjustment operation of the external parameter on the user interaction interface includes: acquiring the user's A selection operation on the external parameter on the user interaction interface; when the external parameter is in a selected state, the user's adjustment operation on the at least one adjustment icon on the user interaction interface is acquired.

Specifically, the user interaction interface may also include at least one adjustment icon. As shown in FIG. 6, the parameter input area 41 includes two adjustment icons, an adjustment icon 44 and an adjustment icon 45, which are only schematically described here, and are used in other implementations. In an example, the user interaction interface may include one adjustment icon, or may include three or more adjustment icons. In this embodiment, the adjustment icon 44 and the adjustment icon 45 can be used to adjust the external parameter value in any input box. For example, the user can select any input box in the parameter input area 41, for example, the user selects the input box 43, and the input box 43 is in a selected state. Correspondingly, the terminal device obtains the user's selection operation on the input box 43. When the input box 43 is in the selected state, the user can perform adjustment operations on the adjustment icon 44 and the adjustment icon 45 on the user interaction interface. For example, the user can slide the adjustment icon 44 and the adjustment icon 45 in a counterclockwise direction. During the sliding process of the adjustment icon 44 and the adjustment icon 45, the external parameter value in the input box 43 changes. Optionally, one of the adjustment icon 44 and the adjustment icon 45 is used for coarse adjustment of the external parameter value, and the other is used for For fine adjustment of the external parameter value, this embodiment does not limit the specific accuracy of the coarse adjustment and the fine adjustment. Correspondingly, the terminal device can acquire the adjustment operation of the user on the adjustment icon 44 and the adjustment icon 45, and change the external parameter value in the input box 43 according to the adjustment operation. For example, when the adjustment icon 44 and the adjustment icon 45 rotate counterclockwise, the external parameter value in the input box 43 gradually increases; while the adjustment icon 44 and the adjustment icon 45 rotate clockwise, the external parameter in the input box 43 is The parameter value gradually decreases. In other words, the amount of rotation of the adjustment icon is proportional to the amount of change in the external parameter value.

Optionally, when the user selects the external parameter on the user interaction interface, the adjustment amount of the at least one adjustment icon is an initial state.

For example, when the user selects input boxes other than the input box 43 to adjust the external parameter values in other input boxes, the adjustment amount of the adjustment icon 44 and the adjustment icon 45 becomes the initial state, for example, the adjustment icon 44 and the adjustment icon 45 returns to the initial state as shown in Figure 5.

In some embodiments, another achievable way for the user to adjust the external parameter value is: input the new external parameter value in the input box corresponding to the external parameter value, and then adjust the adjustment icon 44 and the adjustment icon 45 Operation to further adjust the new external parameter value.

In this embodiment, by providing a user interaction interface, the user can visually input external parameters in the parameter input area of the user interaction interface, and according to the external parameters corresponding to the multiple radars input by the user in the parameter input area, The point cloud detected by each radar in the multiple radars is converted into position. If the point cloud after the position conversion is not in the same coordinate system, the user can visually adjust the external parameters corresponding to the multiple radars in the parameter input area. Determine the target external parameters of each radar so that the point cloud detected by each radar is located in the same coordinate system after the position conversion of the target external parameters of each radar, so that users do not need very complex algorithm design and reasonable code By writing, you can easily determine the conversion relationship between different radars on the same movable platform.

The embodiment of the present invention provides a method for calibrating radar external parameters. FIG. 8 is a flowchart of a method for calibrating radar external parameters according to another embodiment of the present invention. As shown in Figure 8, on the basis of the foregoing embodiment, the multiple radars include: a reference radar and at least one radar to be calibrated; as shown in Figure 7, 0T9DFBC0040418, 0T9DFBC0040429 and 0T9DFBC0040436 respectively identify the radar on the same movable platform Three different radars. In this embodiment, one of the three radars is used as the reference radar, and the remaining two radars are the radars to be calibrated. For example, the radar identified by 0T9DFBC0040429 is used as the reference radar, and 0T9DFBC0040418 and 0T9DFBC0040436 are respectively identified The radar is to be calibrated.

The acquiring the user's adjustment operation on the external parameters on the user interaction interface to determine the target external parameters of each radar, so that the point cloud detected by each radar passes through each The target external parameters of the radar are located in the same coordinate system after position conversion, which can include:

Step S801: Obtain an adjustment operation of the external parameter of the radar to be calibrated by the user on the user interaction interface.

Specifically, the radar identified by 0T9DFBC0040429 is used as the reference radar, and the external parameters of the reference radar are all set to 0, as shown in FIG. 7. Further, the radar identified by 0T9DFBC0040418 is the radar to be calibrated, and the user can continuously adjust the external parameters of the radar identified by 0T9DFBC0040418 in the parameter input area as shown in FIG. 7. The adjustment operation of the external parameters is specifically as described in the above embodiment. I won't repeat it here.

Step S802: Determine the target external parameters of the radar to be calibrated according to the user's adjustment operation on the external parameters of the radar to be calibrated on the user interaction interface, so that the points detected by the radar to be calibrated The cloud is located in the coordinate system of the reference radar after performing position conversion on the target external parameters of the radar to be calibrated.

When the user adjusts the radar external parameters identified by 0T9DFBC0040418, the terminal device can perform position conversion on the point cloud detected by the radar according to the radar external parameters identified by 0T9DFBC0040418 in real time, and convert the point cloud after the position conversion to the The point cloud detected by the reference radar is displayed in the display area of the user interaction interface. The user can visually observe in the display area whether the point cloud detected by the radar identified by 0T9DFBC0040418 is transformed by the external parameters adjusted by the radar and whether the point cloud detected by the reference radar is in the same coordinate system. If the point cloud after the position conversion and the point cloud detected by the reference radar are not in the same coordinate system, the user can continue to adjust the external parameters of the radar identified by 0T9DFBC0040418 in the parameter input area until the radar identified by 0T9DFBC0040418 is determined The target external parameter makes the point cloud detected by the radar identified by 0T9DFBC0040418 after the position conversion of the target external parameter and the point cloud detected by the reference radar are in the same coordinate system. Since the external parameters of the reference radar are all 0, it is equivalent that the point cloud detected by the reference radar does not undergo position conversion, and the point cloud detected by the reference radar is located in the coordinate system of the reference radar. Therefore, when the point cloud detected by the radar identified by 0T9DFBC0040418 is in the same coordinate system as the point cloud detected by the reference radar through the target external parameters, the point cloud detected by the radar identified by 0T9DFBC0040418 passes The point cloud after the position conversion of the target external parameter is located in the coordinate system of the reference radar.

In the same way, the target external parameters of the radar identified by 0T9DFBC0040436 can be determined, so that the point cloud detected by the radar identified by 0T9DFBC0040436 after the position conversion of the target external parameters is located in the coordinate system of the reference radar.

That is to say, taking the coordinate system of the reference radar as the reference coordinate system, the determined target external parameter of the radar to be calibrated is the conversion relationship between the coordinate system of the radar to be calibrated relative to the reference coordinate system, and according to the target of the radar to be calibrated The point cloud after position conversion of the point cloud detected by the external reference radar will be located in the coordinate system of the reference radar.

In some embodiments, after determining the target external parameters of the radar to be calibrated according to the user's adjustment operation on the external parameters of the radar to be calibrated on the user interaction interface, the method further The method includes: converting the point cloud detected by the reference radar and the radar to be calibrated into the target coordinate system according to the conversion relationship between the coordinate system of the reference radar and the target coordinate system.

Since the reference radar and the radar to be calibrated are both set on the same movable platform, the coordinate system of the reference radar is different from the coordinate system of the movable platform, that is to say, between the coordinate system of the reference radar and the coordinate system of the movable platform There is also a certain conversion relationship. Therefore, in this embodiment, the coordinate system of the movable platform can also be used as the target coordinate system, and the point cloud in the coordinate system of the reference radar can be converted into the target coordinate system. The point cloud in the coordinate system of the reference radar includes: the point cloud detected by the reference radar, and the point cloud detected by the radar to be calibrated through the target external parameters corresponding to the radar to be calibrated to perform position conversion.

Optionally, the target coordinate system is the coordinate system of the movable platform. The coordinate origin of the coordinate system of the movable platform is a projection point of a preset point on the movable platform on the ground. In this embodiment, the coordinate origin of the coordinate system of the movable platform is not limited. The coordinate origin of the coordinate system of the movable platform may be a fixed point on the movable platform or a fixed point on the movable platform. The projection point of a point on the ground. For example, the movable platform is a vehicle, and the coordinate origin of the coordinate system of the movable platform may be the projection point of the center of the vehicle chassis on the ground.

In addition, in some other embodiments, the target coordinate system may also be a coordinate system of a radar in the movable platform, for example, a coordinate system of a reference radar.

In this embodiment, by taking the coordinate system of the reference radar as the reference coordinate system, the target external parameters of the radar to be calibrated are determined, so that the point cloud detected by the radar to be calibrated passes through the target external parameters of the radar to be calibrated for position conversion. It is located in the coordinate system of the reference radar, so that the target external parameters of each radar to be calibrated are determined one by one. Compared with adjusting the external parameters of multiple radars to determine the target external parameters of each radar at the same time, the calculation amount is reduced and the Calculate the efficiency of the external parameters of each radar target.

The embodiment of the invention provides a calibration device for radar external parameters. The device for calibrating radar external parameters may specifically be the terminal device in the above-mentioned embodiment, or it may be a component in the terminal device that can execute the above-mentioned method for calibrating radar external parameters. Fig. 9 is a structural diagram of a radar external parameter calibration device provided by an embodiment of the present invention. As shown in Fig. 9, the radar external parameter calibration device 90 includes a memory 91, a processor 92, and a display component 93; among them, the display component 93 is used for A user interaction interface is displayed. The user interaction interface includes a parameter input area and a display area. The parameter input area is used for the user to visually input external parameters. The display area is used to display the point cloud detected by the radar; The processor 92 calls the program code, and when the program code is executed, it is used to perform the following operations: obtain the external parameters corresponding to the multiple radars input by the user in the parameter input area, and the multiple Each radar is set on the same movable platform; according to the external parameters corresponding to the multiple radars, the position conversion is performed on the point cloud detected by each radar in the multiple radars; if the point cloud after the position conversion If they are not in the same coordinate system, the user's adjustment operation on the external parameters on the user interaction interface is obtained to determine the target external parameters of each radar, so that the point cloud detected by each radar The target external parameters of each radar are located in the same coordinate system after position conversion.

In some embodiments, the parameter input area includes identification information of each radar.

In some embodiments, the parameter input area of the user interaction interface includes an input box of external parameters corresponding to each radar.

In some embodiments, when the processor 92 obtains the external parameters corresponding to the multiple radars input by the user in the parameter input area, it is specifically configured to: obtain the external parameters input by the user in the input box.

In some embodiments, when the processor 92 obtains the user's adjustment operation of the external parameter on the user interaction interface, it is specifically configured to: obtain the user's adjustment of the external parameter in the input box. Modify operation.

In some embodiments, the user interaction interface includes: at least one adjustment icon; when the processor 92 obtains the adjustment operation of the external parameter by the user on the user interaction interface, it is specifically configured to: obtain the user A selection operation of the external parameter on the user interaction interface; and when the external parameter is in a selected state, an adjustment operation of the user on the at least one adjustment icon on the user interaction interface is acquired.

In some embodiments, when the user selects the external parameter on the user interaction interface, the adjustment amount of the at least one adjustment icon is an initial state.

In some embodiments, the multiple radars include: a reference radar and at least one to-be-calibrated radar; the processor 92 obtains the adjustment operation of the external parameter on the user interaction interface by the user to determine the Target external parameters of each radar, so that the point cloud detected by each radar is located in the same coordinate system after the position conversion of the target external parameters of each radar is specifically used to: The adjustment operation of the external parameters of the radar to be calibrated on the user interaction interface; and the determination of the external parameters of the radar to be calibrated by the user on the user interaction interface The target external parameters of the radar are such that the point cloud detected by the radar to be calibrated is located in the coordinate system of the reference radar after the position conversion of the target external parameters of the radar to be calibrated.

In some embodiments, after the processor 92 determines the target external parameters of the radar to be calibrated according to the user's adjustment operation on the external parameters of the radar to be calibrated on the user interaction interface, : Convert the point cloud detected by the reference radar and the radar to be calibrated into the target coordinate system according to the conversion relationship between the coordinate system of the reference radar and the target coordinate system.

In some embodiments, the target coordinate system is the coordinate system of the movable platform.

In some embodiments, the coordinate origin of the coordinate system of the movable platform is a projection point on the ground of a preset point on the movable platform.

In some embodiments, the processor 92 performs position conversion on the point cloud detected by each radar in the plurality of radars according to the external parameters respectively corresponding to the plurality of radars, and is further configured to: The display area displays the point cloud after the position conversion.

The specific principles and implementation manners of the radar external parameter calibration device provided in the embodiment of the present invention are similar to those in the foregoing embodiment, and will not be repeated here.

In addition, this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the radar external parameter calibration method described in the foregoing embodiment.

In the several embodiments provided by the present invention, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be realized in the form of hardware, or in the form of hardware plus software functional unit.

The above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The above-mentioned software functional unit is stored in a storage medium and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) execute the method described in the various embodiments of the present invention. Part of the steps. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Those skilled in the art can clearly understand that for the convenience and conciseness of the description, only the division of the above-mentioned functional modules is used as an example. In practical applications, the above-mentioned functions can be allocated by different functional modules as required, that is, the device The internal structure is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not repeated here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention range.

Claims

A method for calibrating radar external parameters, characterized in that the method includes:

Provide a user interaction interface, the user interaction interface includes a parameter input area and a display area, the parameter input area is used for the user to visually input external parameters, and the display area is used to display the point cloud detected by the radar;

Acquiring external parameters corresponding to multiple radars input by a user in the parameter input area, and the multiple radars are set on the same movable platform;

Performing position conversion on the point cloud detected by each radar in the plurality of radars according to the external parameters respectively corresponding to the plurality of radars;

If the point cloud after the position conversion is not in the same coordinate system, acquire the user's adjustment operation on the external parameter on the user interaction interface to determine the target external parameter of each radar, so that The point cloud detected by each radar is located in the same coordinate system after being transformed by the target external parameters of each radar.
The method according to claim 1, wherein the parameter input area includes identification information of each radar.
The method according to claim 1 or 2, wherein the parameter input area of the user interaction interface includes an input box of external parameters corresponding to each radar.
The method according to claim 3, wherein the acquiring external parameters corresponding to the multiple radars input by the user in the parameter input area comprises:

Obtain the external parameters input by the user in the input box.
The method according to claim 3, wherein the obtaining the adjustment operation of the user on the external parameter on the user interaction interface comprises:

Obtain the modification operation of the user on the external parameter in the input box.
The method according to any one of claims 1-3, wherein the user interaction interface comprises: at least one adjustment icon;

The obtaining the adjustment operation of the user on the external parameter on the user interaction interface includes:

Acquiring the user's selection operation of the external parameter on the user interaction interface;

When the external parameter is in the selected state, acquiring the adjustment operation of the user on the at least one adjustment icon on the user interaction interface.
The method according to claim 6, wherein when the user selects the external parameter on the user interaction interface, the adjustment amount of the at least one adjustment icon is an initial state.
The method according to any one of claims 1-7, wherein the multiple radars comprise: a reference radar and at least one radar to be calibrated;

The acquiring the user's adjustment operation on the external parameters on the user interaction interface to determine the target external parameters of each radar, so that the point cloud detected by each radar passes through each The target external parameters of the radar are located in the same coordinate system after position conversion, including:

Acquiring the user's adjustment operation on the external parameters of the radar to be calibrated on the user interaction interface;

According to the user's adjustment operation on the external parameters of the radar to be calibrated on the user interaction interface, the target external parameters of the radar to be calibrated are determined so that the point cloud detected by the radar to be calibrated passes through the The target external parameters of the radar to be calibrated are located in the coordinate system of the reference radar after position conversion.
The method according to claim 8, wherein said determining the target external parameter of the radar to be calibrated according to the user's adjustment operation on the external parameters of the radar to be calibrated on the user interaction interface After the participation, the method further includes:

According to the conversion relationship between the coordinate system of the reference radar and the target coordinate system, the point cloud detected by the reference radar and the radar to be calibrated is converted into the target coordinate system.
The method according to claim 9, wherein the target coordinate system is the coordinate system of the movable platform.
The method according to claim 9, wherein the coordinate origin of the coordinate system of the movable platform is a projection point on the ground of a preset point on the movable platform.
The method according to any one of claims 1-11, wherein the position conversion is performed on the point cloud detected by each radar in the plurality of radars according to the external parameters corresponding to the plurality of radars respectively After that, the method further includes:

The point cloud after the position conversion is displayed in the display area.
A device for calibrating radar external parameters, comprising: a memory, a processor, and a display component, the display component is used to display a user interaction interface, the user interaction interface includes a parameter input area and a display area, the parameter input The area is used for the user to visually input external parameters, and the display area is used to display the point cloud detected by the radar;

The memory is used to store program code;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

Acquiring external parameters corresponding to multiple radars input by a user in the parameter input area, and the multiple radars are set on the same movable platform;

Performing position conversion on the point cloud detected by each radar in the plurality of radars according to the external parameters respectively corresponding to the plurality of radars;

If the point cloud after the position conversion is not in the same coordinate system, acquire the user's adjustment operation on the external parameter on the user interaction interface to determine the target external parameter of each radar, so that The point cloud detected by each radar is located in the same coordinate system after being transformed by the target external parameters of each radar.
The device according to claim 13, wherein the parameter input area includes identification information of each radar.
The device according to claim 13 or 14, wherein the parameter input area of the user interaction interface includes an input box of external parameters corresponding to each radar.
The device according to claim 15, wherein when the processor obtains the external parameters corresponding to the multiple radars input by the user in the parameter input area, it is specifically configured to:

Obtain the external parameters input by the user in the input box.
The device according to claim 15, wherein when the processor acquires the adjustment operation of the external parameter by the user on the user interaction interface, it is specifically configured to:

Obtain the modification operation of the user on the external parameter in the input box.
The device according to any one of claims 13-15, wherein the user interaction interface comprises: at least one adjustment icon;

When the processor obtains the adjustment operation of the external parameter by the user on the user interaction interface, it is specifically used to:

Acquiring the user's selection operation of the external parameter on the user interaction interface;

When the external parameter is in the selected state, acquiring the adjustment operation of the user on the at least one adjustment icon on the user interaction interface.
The device according to claim 18, wherein when the user selects the external parameter on the user interaction interface, the adjustment amount of the at least one adjustment icon is an initial state.
The device according to any one of claims 13-19, wherein the multiple radars comprise: a reference radar and at least one radar to be calibrated;

The processor acquires the adjustment operation of the user on the external parameter on the user interaction interface to determine the target external parameter of each radar, so that the point cloud detected by each radar passes through the When the target external parameters of each radar are located in the same coordinate system after position conversion, they are specifically used for:

Acquiring the user's adjustment operation on the external parameters of the radar to be calibrated on the user interaction interface;

According to the user's adjustment operation on the external parameters of the radar to be calibrated on the user interaction interface, the target external parameters of the radar to be calibrated are determined so that the point cloud detected by the radar to be calibrated passes through the The target external parameters of the radar to be calibrated are located in the coordinate system of the reference radar after position conversion.
The device according to claim 20, wherein the processor determines the value of the radar to be calibrated according to the user's adjustment operation on the external parameters of the radar to be calibrated on the user interaction interface. After the target external parameter, it is also used to:

According to the conversion relationship between the coordinate system of the reference radar and the target coordinate system, the point cloud detected by the reference radar and the radar to be calibrated is converted into the target coordinate system.
The device according to claim 21, wherein the target coordinate system is the coordinate system of the movable platform.
The device according to claim 21, wherein the coordinate origin of the coordinate system of the movable platform is a projection point of a preset point on the movable platform on the ground.
The device according to any one of claims 13-23, wherein the processor performs processing on the point cloud detected by each of the multiple radars according to the external parameters corresponding to the multiple radars. After the position is converted, it is also used to:

Controlling the display component to display the point cloud after the position conversion in the display area.
A computer-readable storage medium, characterized in that a computer program is stored thereon, and the computer program is executed by a processor to implement the method according to any one of claims 1-12.