WO2023028823A1

WO2023028823A1 - Radar calibration method and apparatus, and terminal device and storage medium

Info

Publication number: WO2023028823A1
Application number: PCT/CN2021/115602
Authority: WO
Inventors: 方宇凡
Original assignee: 深圳市速腾聚创科技有限公司
Priority date: 2021-08-31
Filing date: 2021-08-31
Publication date: 2023-03-09
Also published as: CN117859072A

Abstract

The present application is applicable to the technical field of radars. Provided are a radar calibration method and apparatus, and a terminal device and a storage medium. The calibration method comprises: acquiring radar point cloud data of N markers, wherein N is an integer greater than or equal to three, the markers are arranged around a radar, and any three of the markers are not located in the same straight line; extracting the three-dimensional coordinates of the markers from the radar point cloud data; acquiring coordinates, which correspond to the three-dimensional coordinates, in an earth-centered earth-fixed coordinate system; determining posture information of the radar in the earth-centered earth-fixed coordinate system according to the three-dimensional coordinates and the coordinates in the earth-centered earth-fixed coordinate system; and calibrating the radar according to the posture information. By means of the embodiments of the present application, a calibration process can be simplified.

Description

Radar calibration method, device, terminal equipment and storage medium

technical field

The present application belongs to the technical field of radar, and in particular relates to a radar calibration method, device, terminal equipment and storage medium.

Background technique

Due to the rapid development of unmanned driving technology and communication technology, many service companies that provide infrastructure construction for unmanned driving have emerged. Vehicle-road coordination system is currently a popular project. Due to the current high cost, it is mostly installed at a certain intersection or a specific road section and displayed as a demonstration project.

The vehicle-road coordination system needs to attach precise (generally centimeter-level) latitude and longitude to the perceived objects. At present, the object is perceived through the visual camera, and then the longitude and latitude are attached to the perceived object. Before using the vision camera, the vision camera needs to be calibrated. The existing visual camera calibration method needs to be completed by collecting data, processing images, extracting and matching feature points, determining the three-dimensional pose, and calibrating the visual camera. Many steps are required for calibration, which makes the calibration process complicated.

technical problem

Embodiments of the present application provide a radar calibration method, device, terminal equipment, and storage medium, which can simplify the calibration process.

technical solution

In the first aspect, an embodiment of the present application provides a radar calibration method, the calibration method comprising:

Obtain radar point cloud data of N markers, N is an integer greater than or equal to three, each marker is set around the radar, and any three markers are not located on the same straight line;

extracting the three-dimensional coordinates of each of the markers from the radar point cloud data;

Acquiring the coordinates of the earth-centered earth-fixed coordinate system corresponding to the three-dimensional coordinates;

determining the pose information of the radar in the earth-centered earth-fixed coordinate system according to the three-dimensional coordinates and the coordinates of the earth-centered earth-fixed coordinate system;

The radar is calibrated according to the pose information.

In a possible implementation manner of the first aspect, the calibration method further includes:

obtaining global positioning system data for each of said markers;

Correspondingly, the acquiring the coordinates of the earth-centered earth-fixed coordinate system corresponding to the three-dimensional coordinates includes:

extracting the latitude and longitude of each of the markers from the global positioning system data;

The coordinates of the earth-centered earth-fixed coordinate system corresponding to the three-dimensional coordinates are determined according to the latitude and longitude.

In a possible implementation manner of the first aspect, before extracting the three-dimensional coordinates of each marker from the radar point cloud data, the method further includes:

determining the distance between any two markers according to the radar point cloud data to obtain a first distance;

determining the distance between any two of the markers according to the global positioning system data to obtain a second distance;

determining a difference between the first distance and the second distance;

If the difference satisfies the preset condition, the radar point cloud data and the global positioning system data of each of the markers are reacquired.

In a possible implementation manner of the first aspect, the acquiring the global positioning system data of each of the markers includes:

The global positioning system data of each marker is continuously collected until each collection time reaches a preset time.

In a possible implementation manner of the first aspect, the determining the pose information of the radar in the earth-centered earth-fixed coordinate system includes:

Determine the rotation matrix and translation vector of the radar in the earth-centered earth-fixed coordinate system.

In a possible implementation manner of the first aspect, the calculation formulas of the rotation matrix and the translation vector are:

Wherein, R is the rotation matrix, t is the translation vector, N is the number of markers, p _i is the three-dimensional coordinates, and p' _i is the coordinates of the earth-centered earth-fixed coordinate system.

In a possible implementation of the first aspect, the acquiring the radar point cloud data of N markers includes:

Obtain the radar point cloud data of N markers uniformly arranged around the radar.

In the second aspect, an embodiment of the present application provides a radar calibration device, the calibration device includes:

The point cloud data acquisition module is used to obtain radar point cloud data of N markers, N is an integer greater than or equal to three, each marker is set around the radar, and any three markers are not located on the same straight line ;

A three-dimensional coordinate extraction module, configured to: extract the three-dimensional coordinates of each of the markers from the radar point cloud data;

An earth-centered, earth-fixed coordinate acquisition module, configured to: acquire coordinates of an earth-centered, earth-fixed coordinate system corresponding to the three-dimensional coordinates;

A pose information determining module, configured to: determine the pose information of the radar in the earth-centered earth-fixed coordinate system according to the three-dimensional coordinates and the coordinates of the earth-centered earth-fixed coordinate system;

A calibration module, configured to: calibrate the radar according to the pose information.

In the third aspect, the embodiments of the present application provide a terminal device, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the computer program, The method described in any one of the above-mentioned first aspects is implemented.

In a fourth aspect, the embodiments of the present application provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements any one of the above-mentioned first aspects. Methods.

In a fifth aspect, embodiments of the present application provide a computer program product, which, when the computer program product is run on a terminal device, causes the terminal device to execute the method described in any one of the foregoing first aspects.

Beneficial effect

The beneficial effect that the embodiment of the present application exists compared with prior art is:

In the embodiment of the present application, the radar point cloud data of N markers is obtained first, that is, the data is collected; wherein, N is an integer greater than or equal to three, each marker is set around the radar, and any three markers are not Located on the same straight line; then extract the three-dimensional coordinates of each marker from the radar point cloud data, and obtain the coordinates of the earth-centered ground-fixed coordinate system corresponding to the aforementioned three-dimensional coordinates, that is, extract features; according to the aforementioned three-dimensional coordinates and the earth-centered ground-fixed coordinates system coordinates, determine the radar pose information in the earth-centered ground-fixed coordinate system, that is, determine the three-dimensional pose; It only needs to be completed by collecting data, extracting features, determining 3D pose and calibrating radar. The existing visual camera calibration method needs to be completed by collecting data, processing images, extracting and matching feature points, determining the three-dimensional pose and calibrating the visual camera; in contrast, the embodiment of the application provides a radar calibration method that is more Simple, can simplify the calibration process.

Some possible implementations of the embodiments of the present application have the following beneficial effects:

After collecting the complete GPS data, verify the accuracy of the GPS data. If the accuracy of the GPS data does not meet the requirements, re-collect until the accuracy of the GPS data meets the requirements, which can avoid building another collection The GPS data platform can also obtain accurate GPS data for subsequent processing, thereby improving the calibration accuracy.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings that need to be used in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only the application. For some embodiments of the present invention, those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.

FIG. 1 is a schematic flowchart of a calibration method for radar provided by an embodiment of the present application;

Fig. 2 is a schematic diagram of how to set markers around the radar provided by an embodiment of the present application;

FIG. 3 is a schematic flowchart of a first modification of the radar calibration method provided by an embodiment of the present application;

FIG. 4 is a schematic flowchart of a second modification of the radar calibration method provided by an embodiment of the present application;

Fig. 5 is a schematic structural diagram of a radar calibration device provided by an embodiment of the present application;

Fig. 6 is a schematic structural diagram of a first modification of the radar calibration device provided by an embodiment of the present application;

Fig. 7 is a schematic structural diagram of an earth-centered earth-fixed coordinate acquisition module provided by an embodiment of the present application;

Fig. 8 is a schematic structural diagram of a second modification of the radar calibration device provided by an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.

Embodiments of the present invention

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings 1 to 9 and the embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and techniques are presented for a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and/or components, but does not exclude one or more other Presence or addition of features, wholes, steps, operations, elements, components and/or collections thereof.

It should also be understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

As used in this specification and the appended claims, the term "if" may be construed, depending on the context, as "when" or "once" or "in response to determining" or "in response to detecting ". Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be construed, depending on the context, to mean "once determined" or "in response to the determination" or "once detected [the described condition or event] ]” or “in response to detection of [described condition or event]”.

In addition, in the description of the specification and appended claims of the present application, the terms "first", "second", "third" and so on are only used to distinguish descriptions, and should not be understood as indicating or implying relative importance.

Reference to "one embodiment" or "some embodiments" or the like in the specification of the present application means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in other embodiments," etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean "one or more but not all embodiments" unless specifically stated otherwise. The terms "including", "comprising", "having" and variations thereof mean "including but not limited to", unless specifically stated otherwise.

Embodiments of the present application provide a radar calibration method, which is used to calibrate the radar. The calibration method provided in this embodiment can be applied to wearable devices, vehicle-mounted devices, augmented reality (augmented reality, AR)/virtual reality (virtual reality, VR) equipment, notebook computers, ultra-mobile personal computers (ultra-mobile personal computer, UMPC), personal digital assistant (personal digital assistant, PDA) and other terminal devices, the embodiments of the present application do not impose any restrictions on the specific types of terminal devices.

FIG. 1 shows a schematic flow chart of a radar calibration method provided in this embodiment. As an example but not a limitation, the method can be applied to the above-mentioned terminal device. The calibration method provided in this embodiment includes step A1 to step A5.

Step A1. Obtain radar point cloud data of N markers, where N is an integer greater than or equal to three, each marker is set around the radar, and any three markers are not located on the same straight line.

Step A1 is collecting data.

Fig. 2 is a schematic diagram of how markers provided in this embodiment are arranged around the radar. Referring to FIG. 2 , N points are selected around an open area where radar base stations (referred to as radars) are set, and N markers are placed at these N points. In some embodiments, the markers are uniformly arranged around the radar. Wherein, the aforementioned markers are markers coated with special materials. In some embodiments, the aforementioned special material is a material whose reflectivity reaches a preset threshold, and may be a material with high reflectivity, that is, the reflectivity of the material is higher than that of surrounding objects. The foregoing marker may be a cylindrical object, may also be a flat-shaped object, or may be a flat-shaped object with high reflectivity, and the present application is not limited thereto. The number of the aforementioned markers is at least three, and it is necessary to ensure that any three markers are not on the same straight line (which may be called a non-linear arrangement). In addition, it should be ensured that the markers can be recognized by the radar so that the radar can collect the point cloud data of each marker; among them, the point cloud density should meet the design requirements.

The radar may be a multi-beam laser radar, a mechanical rotating laser radar or a solid-state laser radar, or other radars capable of precise distance measurement, and this application is not limited thereto.

After placing the markers, start the radar and collect the point cloud data of each marker to obtain the radar point cloud data.

In some other embodiments, the markers may be arranged unevenly around the radar, such as concentrated on a certain side of the radar.

Step A2, extracting the three-dimensional coordinates of each marker from the radar point cloud data.

Step A2 is to extract features.

After the radar point cloud data is obtained, the feature extraction program is run to extract the three-dimensional coordinates of each marker from the radar point cloud data. Wherein, the aforementioned three-dimensional coordinates are the positions of the markers in the radar field of view.

In some embodiments, one marker has a three-dimensional coordinate, then N markers correspond to N three-dimensional coordinates, which are respectively recorded as p _i =(xi _, y _i , z _i ), i=1, 2, ..., N.

Step A3, obtaining the coordinates of the earth-centered earth-fixed coordinate system corresponding to the three-dimensional coordinates.

Step A3 is also feature extraction.

After the three-dimensional coordinates of the landmarks are obtained, the coordinates of the corresponding earth-centered and earth-fixed coordinate system can be obtained according to the three-dimensional coordinates. Specifically, designated equipment can be used, such as high-precision GNSS (Global Navigation Satellite System, Global Navigation Satellite System) equipment , measure at the position where the aforementioned three-dimensional coordinates are located, and the designated device directly outputs the coordinates of the corresponding earth-centered earth-fixed coordinate system, thereby obtaining the corresponding coordinates of the earth-centered earth-fixed coordinate system.

One three-dimensional coordinate corresponds to the coordinates of one earth-centered earth-fixed coordinate system, then, N three-dimensional coordinates correspond to the coordinates of N earth-centered earth-fixed coordinate systems, respectively recorded as p′ _i =(x′ _i , y′ _i , z′ _i ), i=1, 2, . . . , N.

Step A4: Determine the pose information of the radar in the earth-centered earth-fixed coordinate system according to the three-dimensional coordinates and the coordinates of the earth-centered earth-fixed coordinate system.

Step A4 is to determine the three-dimensional pose.

After obtaining the aforementioned three-dimensional coordinates and the corresponding coordinates of the earth-centered ground-fixed coordinate system, the position and orientation information of the radar in the earth-centered ground-fixed coordinate system can be determined according to these two coordinates. rotation matrix and translation vector, then the aforementioned pose information includes the rotation matrix and translation vector.

In some embodiments, the position and orientation information of the radar in the earth-centered earth-fixed coordinate system can be obtained through optimization based on the three-dimensional point-to-point nonlinear characteristics, specifically by solving the objective function to determine the rotation matrix and translation vector, the aforementioned objective function (or determine The calculation formula of rotation matrix and translation vector) is:

Wherein, R is the aforementioned rotation matrix; t is the aforementioned translation vector, t=(x, y, z); N is the number of markers; p _i is the aforementioned three-dimensional coordinates; p' _i is the coordinates of the aforementioned earth-centered, earth-fixed coordinate system ; i is the serial number of the marker.

In order to ensure that the above objective function has a unique solution, the number of markers is at least three, that is, N is an integer greater than or equal to three. The number of markers can be three, four, five, six, seven or more than eight.

The way markers are distributed around the radar can vary. Among them, if the markers are evenly distributed around the radar, and the rotation matrix R and translation vector t change a little, the above objective function will have a large change, then the higher precision rotation matrix R and translation vector t can be solved .

Step A5. Calibrate the radar according to the pose information.

Step A5 is to calibrate the radar.

After determining the pose information of the radar in the earth-centered ground-fixed coordinate system, the radar is calibrated using the pose information.

After the calibration is completed, in actual use, using the rotation matrix R and the translation vector t, the local position coordinates (x, y, z) of the object identified by the radar can be converted into coordinates in the earth-centered ground-fixed coordinate system. Further, the latitude and longitude corresponding to the coordinate can be obtained; specifically, in the earth-centered earth-fixed coordinate system, the coordinate corresponds to the latitude and longitude, so the corresponding latitude and longitude can be obtained according to the aforementioned coordinates. In this way, the calibrated radar can attach the latitude and longitude to the perceived objects.

According to the above content, it can be known that the calibration method provided by this embodiment first acquires the radar point cloud data of N markers, that is, collects data; wherein, N is an integer greater than or equal to three, and each marker is set around the radar. Any three markers are not located on the same straight line; then extract the three-dimensional coordinates of each marker from the radar point cloud data, and obtain the coordinates of the earth-centered ground-fixed coordinate system corresponding to the aforementioned three-dimensional coordinates, that is, extract features; according to the aforementioned three-dimensional Coordinates and the coordinates of the earth-centered earth-fixed coordinate system determine the pose information of the radar in the earth-centered earth-fixed coordinate system, that is, determine the three-dimensional pose; then calibrate the radar according to the pose information, that is, calibrate the radar; it can be seen that this embodiment provides radar The calibration method only needs to complete by collecting data, extracting features, determining the three-dimensional pose and calibrating the radar. The existing visual camera calibration method needs to be completed by collecting data, processing images, extracting and matching feature points, determining the three-dimensional pose and calibrating the visual camera; in contrast, the radar calibration method provided in this embodiment is simpler, Can simplify the calibration process.

In addition, the calibration method of the visual camera needs to measure the three-dimensional pose of the object through visual imaging, but the visual imaging is greatly affected by the ambient light, and it is difficult to obtain accurate three-dimensional coordinate information. In contrast, this embodiment provides a radar calibration method. Since radar uses electromagnetic waves to detect objects, it is less affected by ambient light, specifically light intensity and weather, and can obtain accurate three-dimensional coordinate information.

Although the location information can be obtained through GPS (Global Positioning System, Global Positioning System), it is affected by the limitation of the number of satellites and multipath interference in some places, such as under some viaducts or next to streets with tall buildings. The accuracy of the information is poor and cannot be used, so it is impossible to attach precise latitude and longitude to the perceived objects. This embodiment uses markers with known precise poses (the poses may include three translations and three rotations) to obtain the pose information of the radar in the earth-centered ground-fixed coordinate system, and use the pose information to perform radar Calibration, after completing the calibration, the radar can attach accurate latitude and longitude to the perceived objects.

Fig. 3 is a schematic flowchart of a first modification of the radar calibration method provided in this embodiment. The aforementioned specified equipment (such as high-precision GNSS equipment) cannot directly obtain the coordinates of the earth-centered ground-fixed coordinate system corresponding to the three-dimensional coordinates, so it is necessary to first obtain the latitude and longitude corresponding to the three-dimensional coordinates, and then determine the coordinates of the earth-centered ground-fixed coordinate system according to the longitude and latitude. coordinate. Referring to Fig. 3, in some embodiments, the calibration method further includes step T1.

Step T1, acquiring global positioning system data of each marker.

GPS (Global Positioning System, Global Positioning System) equipment was used to collect the global positioning system data of each marker. Specifically, a GPS device can be placed on the marker, such as placed on the top of the marker, and then the global positioning system data of the marker is collected; after the global positioning system data of a marker is collected, the aforementioned GPS device can be placed on the On the top of another marker, collect the GPS data of the other marker; until the GPS data of each marker is collected. Then, the terminal device obtains the global positioning system data of each marker from the GPS device.

In some embodiments, step T1 may be to continuously collect the GPS data of each marker until each collection time reaches a preset time.

Specifically, when placing the GPS device on top of each marker, it is necessary to keep the antenna of the GPS device still and stable, and then record data for more than 10 seconds, reaching the preset time. Within the preset time, the global positioning system data collected by the GPS device will remain stable. Specifically, the global positioning system data may remain unchanged, so it can be guaranteed that the collected global positioning system data is stable and reliable.

In some embodiments, the record files corresponding to the global positioning system data of each marker are named according to the order of collection, so as to facilitate the next step of processing.

Referring to FIG. 3 , the aforementioned step A3 (obtaining the coordinates of the earth-centered earth-fixed coordinate system corresponding to the three-dimensional coordinates) includes step A31 and step A32.

Step A31, extracting the latitude and longitude of each marker from the global positioning system data.

After the global positioning system data of each marker is acquired, the aforementioned feature extraction program is run to extract the latitude and longitude of each marker from the aforementioned global positioning system data. The extracted latitude and longitude may be stored in the aforementioned record file in sequence.

Step A32: Determine the coordinates of the earth-centered earth-fixed coordinate system corresponding to the three-dimensional coordinates according to the latitude and longitude.

After obtaining the latitude and longitude of each marker, the latitude and longitude can be converted into the coordinates of the earth-centered earth-fixed coordinate system through coordinate system conversion, and then the coordinates of the earth-centered earth-fixed coordinate system corresponding to the three-dimensional coordinates can be obtained.

Fig. 4 is a schematic flowchart of a second modification of the radar calibration method provided in this embodiment. Referring to FIG. 4 , in some embodiments, before step A31 (extracting the latitude and longitude of each marker from the global positioning system data), steps P1 to P4 are further included.

Step P1. Determine the distance between any two markers according to the radar point cloud data to obtain the first distance.

After obtaining the radar point cloud data of N markers in the aforementioned step A1, the distance to the two markers can be calculated according to the radar point cloud data, specifically, the three-dimensional coordinates of any two markers can be extracted from the radar point cloud data, and then Calculate the distance between the corresponding two markers according to the two three-dimensional coordinates to obtain the first distance.

Step P2. Determine the distance between any two markers according to the global positioning system data to obtain the second distance.

After obtaining the GPS data of each marker in the aforementioned step T1, the distance between the two markers can also be calculated according to the GPS data; specifically, the GPS data contains multiple parameters, which can be calculated according to these parameters Find the distance between the two markers to get the second distance.

Step P3. Determine the difference between the first distance and the second distance.

After obtaining the first distance and the second distance, calculate the difference between the first distance and the second distance, and the difference can be an absolute value or a real number.

Step P4, if the difference satisfies the preset condition, re-collect the radar point cloud data and GPS data of each marker.

The first distance is obtained based on the radar point cloud data of the two markers, and the second distance is obtained based on the GPS data of the two markers. The radar point cloud data is usually accurate. Therefore, the radar point cloud data Can be used to verify the accuracy of GPS data.

After the aforementioned difference is obtained, the size of the difference can be judged. If the difference indicates that the difference between the first distance and the second distance is small, specifically the difference is smaller than the preset value, it means that the collected global positioning The system data is accurate, and the global positioning system data can be used for subsequent processing; if the difference shows that the first distance and the second distance have a large difference, it can be specifically that the difference is greater than a preset value (at this time the difference meets the preset value). condition), it means that the accuracy of the collected GPS data does not meet the requirements, then re-collect the radar point cloud data and GPS data of each marker, and then repeat the above process until the difference is less than the preset value.

According to the above content, after collecting the complete GPS data, the accuracy of the GPS data is verified. If the accuracy of the GPS data does not meet the requirements, re-collect until the accuracy of the GPS data meets the requirements. It can avoid building a platform for collecting GPS data again, and can also obtain accurate GPS data for subsequent processing, thereby improving the accuracy of calibration.

The radar calibration method provided by the embodiment of the present application is based on three-dimensional nonlinear feature optimization, and calibration is performed according to the coordinates of three-dimensional coordinate points and the earth-centered earth-fixed coordinate system, which is a pose based on known targets (that is, markers) The calibration method of obtaining the position and orientation information of the radar in the earth-centered ground-fixed coordinate system, the calibration process is simple, the calibration process takes very little time, and the calibration accuracy is high: the test results show that at 50 meters, the position accuracy is 10 cm Within, the angular accuracy is less than 0.15 degrees.

Corresponding to the method described in the above embodiment, FIG. 5 shows a structural block diagram of a radar calibration device provided by the embodiment of the present application. For the convenience of description, only the parts related to the embodiment of the present application are shown.

Referring to FIG. 5 , the device includes a point cloud data acquisition module 1A, a three-dimensional coordinate extraction module 2A, an earth-centered ground-fixed coordinate acquisition module 3A, a pose information determination module 4A, and a calibration module 5A.

The point cloud data acquisition module 1A is used to: collect radar point cloud data of N markers, where N is an integer greater than or equal to three, each marker is set around the radar, and any three markers are not located on the same straight line.

The three-dimensional coordinate extraction module 2A is configured to: extract the three-dimensional coordinates of each marker from the radar point cloud data.

The earth-centered-ground-fixed coordinate acquiring module 3A is configured to: acquire the coordinates of the earth-centered ground-fixed coordinate system corresponding to the three-dimensional coordinates.

The pose information determination module 4A is configured to: determine the pose information of the radar in the earth-centered earth-fixed coordinate system according to the aforementioned three-dimensional coordinates and the aforementioned coordinates of the earth-centered earth-fixed coordinate system.

The calibration module 5A calibrates the radar according to the aforementioned pose information.

Fig. 6 is a schematic structural diagram of a first modification of the radar calibration device provided in this embodiment. Referring to FIG. 6 , in some embodiments, the radar calibration device further includes a positioning data acquisition module 1T.

The positioning data acquisition module 1T is configured to: acquire global positioning system data of each marker.

In some embodiments, the positioning data acquisition module 1T is specifically configured to: continuously collect the global positioning system data of each marker until each collection time reaches a preset time.

FIG. 7 is a schematic structural diagram of the earth-centered earth-fixed coordinate acquisition module 3A provided in this embodiment. Referring to FIG. 7 , the earth-centered earth-fixed coordinate acquisition module 3A includes a data extraction submodule 31A and a coordinate determination submodule 32A.

The data extraction sub-module 31A is configured to: extract the latitude and longitude of each marker from the global positioning system data.

The coordinate determining sub-module 32A is configured to determine the coordinates of the earth-centered earth-fixed coordinate system corresponding to the three-dimensional coordinates according to the latitude and longitude.

Fig. 8 is a schematic structural diagram of a second modification of the radar calibration device provided in this embodiment. Referring to FIG. 8 , in some embodiments, the radar calibration device further includes a first distance determination module 1P, a second distance determination module 2P, a difference determination module 3P and a judgment module 4P.

The first distance determination module 1P is configured to: determine the distance between any two markers according to the radar point cloud data to obtain the first distance.

The second distance determination module 2P is configured to: determine the distance between any two markers according to the global positioning system data to obtain the second distance.

The difference determination module 3P is configured to: determine the difference between the first distance and the second distance.

The judging module 4P is configured to: re-collect the radar point cloud data and global positioning system data of each marker if the difference satisfies the preset condition.

It should be noted that the information interaction and execution process between the above-mentioned devices/units are based on the same concept as the method embodiment of the present application, and its specific functions and technical effects can be found in the method embodiment section. I won't repeat them here.

FIG. 9 is a schematic structural diagram of a terminal device provided by an embodiment of the present application. As shown in Figure 9, the terminal device 9 of this embodiment includes: at least one processor 90 (only one is shown in Figure 9), a memory 91, and a computer stored in the memory 91 and capable of running on the at least one processor 90 Program 92; when the processor 90 executes the computer program 92, the steps in any of the foregoing method embodiments are implemented.

The terminal device 9 may be computing devices such as desktop computers, notebooks, palmtop computers, and cloud servers. The terminal device may include, but is not limited to, a processor 90 and a memory 91 . Those skilled in the art can understand that FIG. 9 is only an example of a terminal device, and does not constitute a limitation to the terminal device. It may include more or less components than those shown in the figure, or combine certain components, or different components, such as It may also include input and output devices, network access devices, buses, etc.

The processor 90 can be a central processing unit (Central Processing Unit, CPU), and the processor 90 can also be other general-purpose processors, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) ), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

The storage 91 may be an internal storage unit of the terminal device 9 in some embodiments, such as a hard disk or memory of the terminal device. The memory 91 may also be an external storage device of the terminal device in other embodiments, such as a plug-in hard disk equipped on the terminal device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, Flash card (Flash Card), etc. Further, the memory 91 may also include both an internal storage unit of the terminal device and an external storage device. The memory 91 is used to store operating systems, application programs, boot loaders (Boot Loader), data, and other programs, such as program codes of computer programs. The memory 91 can also be used to temporarily store data that has been output or will be output.

Exemplarily, the computer program 92 can be divided into one or more modules/units, and one or more modules/units are stored in the memory 91 and executed by the processor 90 to complete the present application. One or more modules/units may be a series of computer program instruction segments capable of accomplishing specific functions, and the instruction segments are used to describe the execution process of the computer program 92 in the terminal device 9 .

It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware It can also be implemented in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the above system, reference may be made to the corresponding process in the foregoing method embodiments, and details will not be repeated here.

If the aforementioned integrated units are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the method of the above-mentioned embodiments in the present application can be completed by instructing related hardware through a computer program, and the computer program can be stored in a computer-readable storage medium; the computer program is processed When executed by the controller, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. Computer-readable media include: any entity or device capable of carrying computer program code to a device/terminal device, recording media, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signals, telecommunication signals, and software distribution media. Such as U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunication signals under legislation and patent practice.

Embodiments of the present application also provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps in each of the foregoing method embodiments can be implemented.

Embodiments of the present application provide a computer program product, which enables the terminal device to implement the steps in the foregoing method embodiments when the computer program product is run on the terminal device.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not detailed or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

In the embodiments provided in this application, it should be understood that the disclosed device/device and method can be implemented in other ways. For example, the device/device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or Components may be combined or integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The foregoing units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still implement the foregoing embodiments Modifications to the technical solutions described in the examples, or equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the application, and should be included in the Within the protection scope of this application.

Claims

A radar calibration method, characterized in that the calibration method comprises:

Obtain radar point cloud data of N markers, N is an integer greater than or equal to three, each marker is set around the radar, and any three markers are not located on the same straight line;

extracting the three-dimensional coordinates of each of the markers from the radar point cloud data;

Acquiring the coordinates of the earth-centered earth-fixed coordinate system corresponding to the three-dimensional coordinates;

determining the pose information of the radar in the earth-centered earth-fixed coordinate system according to the three-dimensional coordinates and the coordinates of the earth-centered earth-fixed coordinate system;

The radar is calibrated according to the pose information.
The calibration method according to claim 1, further comprising:

obtaining global positioning system data for each of said markers;

Correspondingly, the acquiring the coordinates of the earth-centered earth-fixed coordinate system corresponding to the three-dimensional coordinates includes:

extracting the latitude and longitude of each of the markers from the global positioning system data;

The coordinates of the earth-centered earth-fixed coordinate system corresponding to the three-dimensional coordinates are determined according to the latitude and longitude.
The calibration method according to claim 2, wherein, before extracting the three-dimensional coordinates of each of the markers from the radar point cloud data, further comprising:

determining the distance between any two markers according to the radar point cloud data to obtain a first distance;

determining the distance between any two of the markers according to the global positioning system data to obtain a second distance;

determining a difference between the first distance and the second distance;

If the difference satisfies the preset condition, the radar point cloud data and the global positioning system data of each of the markers are reacquired.
The calibration method according to claim 2, wherein said obtaining the global positioning system data of each said marker comprises:

The global positioning system data of each marker is continuously collected until each collection time reaches a preset time.
The calibration method according to claim 1, wherein the determining the pose information of the radar in the earth-centered earth-fixed coordinate system comprises:

Determine the rotation matrix and translation vector of the radar in the earth-centered earth-fixed coordinate system.
The calibration method according to claim 5, wherein the calculation formulas of the rotation matrix and the translation vector are:

Wherein, R is the rotation matrix, t is the translation vector, N is the number of markers, p i is the three-dimensional coordinates, and p' i is the coordinates of the earth-centered earth-fixed coordinate system.
The calibration method according to any one of claims 1 to 6, wherein said acquiring the radar point cloud data of N markers comprises:

Obtain the radar point cloud data of N markers uniformly arranged around the radar.
A calibration device for radar, characterized in that the calibration device comprises:

The point cloud data acquisition module is used to: obtain radar point cloud data of N markers, N is an integer greater than or equal to three, each marker is set around the radar, and any three markers are not located in the same straight line;

A three-dimensional coordinate extraction module, configured to: extract the three-dimensional coordinates of each of the markers from the radar point cloud data;

An earth-centered, earth-fixed coordinate acquisition module, configured to: acquire coordinates of an earth-centered, earth-fixed coordinate system corresponding to the three-dimensional coordinates;

A pose information determining module, configured to: determine the pose information of the radar in the earth-centered earth-fixed coordinate system according to the three-dimensional coordinates and the coordinates of the earth-centered earth-fixed coordinate system;

A calibration module, configured to: calibrate the radar according to the pose information.
A terminal device, characterized in that it includes a memory, a processor, and a computer program stored in the memory and operable on the processor, when the processor executes the computer program, the computer program according to claims 1 to 1 is implemented. 7. The method described in any one.
A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.