WO2021151572A1 - Verfahren zur kalibrierung einer kamera und/oder eines lidarsensors eines fahrzeugs oder eines roboters - Google Patents
Verfahren zur kalibrierung einer kamera und/oder eines lidarsensors eines fahrzeugs oder eines roboters Download PDFInfo
- Publication number
- WO2021151572A1 WO2021151572A1 PCT/EP2020/085898 EP2020085898W WO2021151572A1 WO 2021151572 A1 WO2021151572 A1 WO 2021151572A1 EP 2020085898 W EP2020085898 W EP 2020085898W WO 2021151572 A1 WO2021151572 A1 WO 2021151572A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- camera
- lidar sensor
- pattern
- virtual
- real
- Prior art date
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
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2504—Calibration devices
-
- 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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- 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
-
- 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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Definitions
- the invention relates to a method for calibrating a camera and / or a lidar sensor of a vehicle or a robot according to the preamble of claim 1.
- a method for calibrating a camera of a vehicle is known from DE 102016009327 A1, images of a vehicle environment being recorded by means of the camera.
- a defined pattern is transmitted into the vehicle environment in at least one section of a detection area of the camera, which is detected by the camera.
- an evaluation unit coupled to or integrated into the camera, distance values are determined for the pattern contained in the images captured by means of the camera, and the calibration of the camera is carried out on the basis of the distance values.
- the lidar sensor is designed to be self-calibrating, the self-calibration being based on object tracking.
- the invention is based on the object of specifying a method for calibrating a camera and / or a lidar sensor of a vehicle or a robot which is improved over the prior art.
- images of a vehicle environment or robot environment are recorded by means of the camera.
- a real pattern is emitted into the vehicle environment or robot environment in at least one section of a detection area of the camera, the real pattern being detected by means of the camera.
- a virtual pattern generated in a coordinate system of the lidar sensor is projected onto a virtual plane in the vehicle environment or the robot environment by means of the lidar sensor.
- the laser radiation emitted by the lidar sensor penetrates the virtual plane and the real pattern correlating with the virtual pattern is generated on a real projection surface.
- the real pattern captured by the camera is calculated back to the virtual plane based on a surface profile of the real projection surface.
- a rectified virtual pattern is generated therefrom in a coordinate system of the camera and the camera and / or the lidar sensor is or is calibrated on the basis of a comparison of the virtual pattern and the rectified virtual pattern.
- optical distortions can arise due to a lens system and due to potential obscurations of the camera.
- a camera is usually calibrated in vehicle production or robot production, for example using a checkerboard pattern. Correction values determined in the process are saved. However, aging of components, different temperature ranges and external mechanical influences can impair the correctness of these correction values.
- the method enables the camera to be calibrated on almost any target, so that the calibration in the production process of the vehicle or robot, for example at the end of the production process, can be simplified.
- the calibration can also be carried out while the vehicle or robot is in operation, for example during short breaks in operation.
- a calibration option is thus also made possible over an operating period of the camera in order to also record aging effects.
- a calibration can thus also be carried out and made up for when one of the camera and the lidar sensor is in operation, which is also advantageous in particular in the case of vehicles that are operated in an automated, in particular highly automated, autonomous or semi-autonomous manner.
- Several calibrations can also be combined in one step. The result of taking the calibration into account is that the camera and the lidar sensor see the same object at the same location.
- the robots mentioned are also designed, for example, as a vehicle, for example as a highly or fully automated passenger car, as a highly or fully automated transport vehicle or as a highly or fully automated truck.
- the robots can also be industrial robots, automated lawn mowers, vacuum robots, mopping robots or automated watercraft.
- the surface profile of the real projection surface is determined on the basis of distances to image points of the real pattern determined by means of the lidar sensor.
- This enables the camera and / or the lidar sensor to be calibrated, in particular in what is known as a cross calibration, in which reflections from the lidar sensor are registered in the camera and used for a relative calibration of the camera to the lidar sensor, i.e. an error between the camera and the lidar sensor.
- a virtual pattern can be specified on any object in the vicinity of the vehicle or robot, which is measured three-dimensionally by the lidar sensor, so that a so-called ground truth can be generated.
- the calibration of the camera and the lidar sensor relative to one another enables objects recognized by means of the camera and the lidar sensor to be better assigned to one another and an increase in accuracy. If the camera and the lidar sensor are calibrated directly to one another, a relative error between them is reduced. By a direct calibration of the camera to the lidar sensor and vice versa, a direct fusion of raw data from the camera and the lidar sensor can be carried out. In addition, the fusion of independent data from the camera and the lidar sensor is also improved.
- At least one transformation equation for converting the virtual pattern into the rectified virtual pattern and / or the rectified virtual pattern into the virtual pattern is determined in the comparison of the virtual pattern and the rectified virtual pattern. That is to say, transformation parameters for transforming one virtual pattern into the other are calculated on the basis of the two virtual patterns.
- the transformation parameters can be used to transform environmental data determined by one of the sensor arrangements, that is to say the camera or the lidar sensor, into the coordinate system of the other sensor arrangement.
- an azimuth error and / or elevation error of the camera and / or the lidar sensor is or is determined in the calibration. The camera can thus be calibrated relative to the lidar sensor in such a way that any differences between the optical axes of the camera and the lidar sensor, that is to say azimuth and elevation errors, can be compensated for.
- a shift and rotation of the coordinate system of the lidar sensor with respect to the coordinate system of the camera, which result from the azimuth and elevation errors, can thus be determined.
- This shift and rotation are taken into account when comparing the two virtual patterns, which are also shifted and rotated with respect to one another.
- a particularly precise calibration can thus be carried out.
- the laser radiation emitted by the lidar sensor is deflected to generate the virtual pattern by means of a rotating mirror of the lidar sensor.
- the virtual pattern in the virtual plane and the real pattern can thus be generated particularly easily and reliably.
- an integration is carried out over a plurality of images recorded one after the other by the camera.
- This integration increases the resolution of the camera in the infrared range, which is advantageous because a camera designed as a conventional color camera has its highest sensitivity in the visible light range and, on the other hand, has a rather low sensitivity in the infrared range.
- fluctuations in the synchronism of the rotating mirror can lead to the distances between lines of the virtual pattern and consequently the distances between lines of the real pattern varying.
- the integration of several successively captured images of the camera enables these errors to be compensated.
- the camera is switched to a calibration mode for calibration.
- the virtual pattern is generated by means of infrared laser radiation, so that detection by means of the camera is possible.
- images captured by means of the camera are generated by means of a camera's own infrared light filter on the camera filtered light radiation.
- the infrared light filter reduces interference and increases color quality.
- an infrared light filter is used which is permeable to infrared laser radiation emitted by the lidar sensor and reflected by the real projection surface, so that the real pattern can be detected.
- the infrared light filter in a calibration mode of the camera, is switched to be transparent to infrared laser radiation emitted by the lidar sensor and reflected by the real projection surface.
- the infrared light filter can be used during normal operation of the camera to reduce the interference and to increase the color quality and can be deactivated in the calibration mode for optimized detection of the infrared laser radiation emitted by the lidar sensor and reflected by the projection surface.
- FIG. 1 schematically shows a perspective illustration of a vehicle, a virtual model and a real model.
- FIG. 2 schematically shows a block diagram of a device for calibrating a camera and / or a lidar sensor of a vehicle.
- FIG. 1 shows a perspective illustration of a vehicle 1, a virtual pattern M v and a real pattern M r .
- FIG. 2 shows a block diagram of a possible exemplary embodiment of a device 4 for calibrating a camera 3 and / or a lidar sensor 2.1 of the vehicle 1.
- the following explanations can also be applied analogously to robots which include at least one camera 3 and / or at least one lidar sensor 2.1.
- Such robots are also designed, for example, as a vehicle, for example as a highly or fully automated passenger car, as a highly or fully automated transport vehicle or as a highly or fully automated truck.
- the robots can also be industrial robots, automated lawn mowers, vacuum robots, mopping robots or automated watercraft.
- the vehicle 1 comprises a lidar 2 with at least one lidar sensor 2.1 and a camera 3, the lidar 2 and the camera 3 being designed to detect the surroundings of the vehicle.
- the device 4 comprises the lidar 2, the camera 3 and a processing unit 5.
- the aim of the calibration is to calibrate the camera 3 relative to the lidar sensor 2.1 in such a way that any differences between the optical axes of the camera 3 and the lidar sensor 2.1, i.e. azimuth and elevation errors, are compensated, so that the camera 3 and the lidar sensor 2.1 see the same object in the same place.
- a virtual plane E v is defined in front of the vehicle 1, which is in the detection range of the camera 3 and the lidar sensor 2.1.
- Infrared laser radiation is emitted by means of the lidar sensor 2.1 and the virtual pattern M v is thus generated on the virtual plane E v.
- the virtual pattern M v is, for example, a checkerboard pattern.
- the virtual pattern M v is generated in a coordinate system of the lidar sensor 2.1.
- the infrared laser radiation penetrates the virtual plane E v , so that a real pattern M r correlating with the virtual pattern M v is projected onto a projection area A in the vehicle environment, for example onto a road surface. This projected real pattern M r is distorted compared to the virtual pattern M v , since the projection surface A on which the real pattern M r is created is not plane-parallel to the virtual plane E v .
- the lidar 2 or the lidar sensor 2.1 has a rotating mirror with which the infrared laser radiation is deflected over a scene to be scanned.
- a distance d to individual image points of the projected real pattern M r is determined by means of the lidar sensor 2.1.
- the processing unit 5 a The surface course of the projection area A is determined three-dimensionally and a so-called ground truth is generated.
- At least one image B of the real pattern M r is captured by means of the camera 3.
- the recorded real pattern M v is rectified by means of the processing unit 5 by back-calculating how it would look on the virtual plane E v.
- the result of this back calculation is a rectified virtual pattern M ev calculated back in the coordinate system of the camera 3.
- the camera 3 is switched to a calibration mode for calibration. It is also possible for the camera 3 to have an infrared light filter in order to reduce interference and / or to increase a color quality.
- This infrared light filter is designed, for example, in such a way that it is either transparent to the reflected IR laser pulses or that it can be switched into a state that is transparent to the infrared laser radiation of the lidar sensor 2.1 in the calibration mode of the camera 3.
- the coordinate system of the lidar sensor 2.1 is shifted and rotated with respect to the coordinate system of the camera 3.
- the two virtual patterns M v , M ev are therefore also shifted and rotated relative to one another.
- Transformation equations for converting the one virtual pattern M v , M ev into the other virtual pattern M ev , M v are determined from the two virtual patterns M v , M ev. That is to say, transformation parameters P of a coordinate transformation are determined with which the data captured by the camera 3 are converted into the The coordinate system of the lidar sensor 2.1 can be transformed or with which the data recorded by the lidar sensor 2.1 can be transformed into the coordinate system of the camera 3.
- the environmental data determined by the lidar sensor 2.1 or the camera 3 are then transformed into the coordinate system of the respective other sensor during regular operation.
- the lidar sensor 2.1 and the camera 3 then see the same object at the same location.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Signal Processing (AREA)
- Multimedia (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US17/796,319 US12061295B2 (en) | 2020-01-31 | 2020-12-14 | Method for calibrating a camera and/or a lidar sensor of a vehicle or a robot |
KR1020227025367A KR20220114648A (ko) | 2020-01-31 | 2020-12-14 | 차량이나 로봇의 카메라 및/또는 라이다 센서의 캘리브레이션 방법 |
JP2022542293A JP7437513B2 (ja) | 2020-01-31 | 2020-12-14 | 車両又はロボットのカメラ及び/又はlidarセンサを較正するための方法 |
CN202080094579.6A CN115023626A (zh) | 2020-01-31 | 2020-12-14 | 用于校准车辆或机器人的摄像头和/或激光雷达传感器的方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020102466.5 | 2020-01-31 | ||
DE102020102466.5A DE102020102466A1 (de) | 2020-01-31 | 2020-01-31 | Verfahren zur Kalibrierung einer Kamera und/oder eines Lidarsensors eines Fahrzeugs oder eines Roboters |
Publications (1)
Publication Number | Publication Date |
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WO2021151572A1 true WO2021151572A1 (de) | 2021-08-05 |
Family
ID=74095798
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2020/085898 WO2021151572A1 (de) | 2020-01-31 | 2020-12-14 | Verfahren zur kalibrierung einer kamera und/oder eines lidarsensors eines fahrzeugs oder eines roboters |
Country Status (6)
Country | Link |
---|---|
US (1) | US12061295B2 (de) |
JP (1) | JP7437513B2 (de) |
KR (1) | KR20220114648A (de) |
CN (1) | CN115023626A (de) |
DE (1) | DE102020102466A1 (de) |
WO (1) | WO2021151572A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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KR20240068814A (ko) | 2022-11-04 | 2024-05-20 | 주식회사 테크웨이즈 | 자율주행차의 라이다 센서 평가 시스템 및 방법 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090059011A1 (en) * | 2007-09-05 | 2009-03-05 | Junhua Sun | Calibration method for structure parameters of structured-light vision sensor |
DE102015008551A1 (de) * | 2015-07-07 | 2016-01-14 | Daimler Ag | Kalibrierung einer Kameraeinheit eines Kraftwagens |
DE102016009327A1 (de) | 2016-07-30 | 2017-02-02 | Daimler Ag | Vorrichtung und Verfahren zur Kalibrierung einer Kamera |
DE102019000438A1 (de) * | 2019-01-22 | 2019-06-06 | Daimler Ag | Verfahren zu einer Kalibrierung einer fahrzeugeigenen Kamera |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4861034B2 (ja) | 2006-03-29 | 2012-01-25 | クラリオン株式会社 | 車載カメラのキャリブレーションシステム |
-
2020
- 2020-01-31 DE DE102020102466.5A patent/DE102020102466A1/de active Pending
- 2020-12-14 WO PCT/EP2020/085898 patent/WO2021151572A1/de active Application Filing
- 2020-12-14 CN CN202080094579.6A patent/CN115023626A/zh active Pending
- 2020-12-14 JP JP2022542293A patent/JP7437513B2/ja active Active
- 2020-12-14 US US17/796,319 patent/US12061295B2/en active Active
- 2020-12-14 KR KR1020227025367A patent/KR20220114648A/ko unknown
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090059011A1 (en) * | 2007-09-05 | 2009-03-05 | Junhua Sun | Calibration method for structure parameters of structured-light vision sensor |
DE102015008551A1 (de) * | 2015-07-07 | 2016-01-14 | Daimler Ag | Kalibrierung einer Kameraeinheit eines Kraftwagens |
DE102016009327A1 (de) | 2016-07-30 | 2017-02-02 | Daimler Ag | Vorrichtung und Verfahren zur Kalibrierung einer Kamera |
DE102019000438A1 (de) * | 2019-01-22 | 2019-06-06 | Daimler Ag | Verfahren zu einer Kalibrierung einer fahrzeugeigenen Kamera |
Also Published As
Publication number | Publication date |
---|---|
JP7437513B2 (ja) | 2024-02-22 |
CN115023626A (zh) | 2022-09-06 |
JP2023510331A (ja) | 2023-03-13 |
KR20220114648A (ko) | 2022-08-17 |
US20230082700A1 (en) | 2023-03-16 |
US12061295B2 (en) | 2024-08-13 |
DE102020102466A1 (de) | 2021-08-05 |
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