WO2024016892A1 - 传感器外参标定方法、装置以及电子设备 - Google Patents

传感器外参标定方法、装置以及电子设备 Download PDF

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Publication number
WO2024016892A1
WO2024016892A1 PCT/CN2023/099581 CN2023099581W WO2024016892A1 WO 2024016892 A1 WO2024016892 A1 WO 2024016892A1 CN 2023099581 W CN2023099581 W CN 2023099581W WO 2024016892 A1 WO2024016892 A1 WO 2024016892A1
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target
sensor
sensors
parameter calibration
external parameter
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PCT/CN2023/099581
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English (en)
French (fr)
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陈晨光
张硕
钱永强
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上海木蚁机器人科技有限公司
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Publication of WO2024016892A1 publication Critical patent/WO2024016892A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Definitions

  • This application relates to the technical field of sensor calibration, such as sensor external parameter calibration methods, devices and electronic equipment.
  • Calibration of external parameters between sensors is an important requirement in the field of mobile robots and autonomous driving.
  • Mobile robots and autonomous vehicles are usually equipped with a variety of sensors, such as cameras, lidar, and inertial measurement sensors.
  • external parameter calibration can usually be performed by using the position changes between multiple sensors mounted on the robot after the robot moves.
  • inertial measurement sensors it is difficult to measure the relative position changes, and it is difficult to perform calibration between sensors.
  • External parameter calibration is difficult, and it is very likely that inaccurate position measurement will lead to large external parameter calibration errors.
  • This application provides a sensor external parameter calibration method, device and electronic equipment to solve the problem of difficulty in external parameter calibration due to difficulty in measuring the sensor position and large external parameter calibration errors that may be caused by inaccurate position measurement.
  • a sensor external parameter calibration method which method includes:
  • a sensor external parameter calibration device includes:
  • the control module is configured to control the target device to perform external parameter calibration motion operations
  • the speed change determination module is configured to determine the target sensor speed change corresponding to different target sensors on the target device when the external parameter calibration motion operation is performed; wherein the different sensors are mounted on the target device through rigid connections;
  • the calibration module is configured to calibrate external parameters of different target sensors based on the speed changes of the target sensors corresponding to the different target sensors.
  • an electronic device including:
  • the memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the above-mentioned sensor external parameter calibration method.
  • a computer-readable storage medium stores computer instructions.
  • the computer instructions are used to implement the above-mentioned sensor external parameter calibration method when executed by a processor.
  • Figure 1 is a flow chart of a sensor external parameter calibration method provided in Embodiment 1 of the present application;
  • Figure 2 is a flow chart of a sensor external parameter calibration method provided in Embodiment 2 of the present application.
  • Figure 3 is a schematic structural diagram of a sensor external parameter calibration device provided in Embodiment 3 of the present application.
  • FIG. 4 is a schematic structural diagram of an electronic device for implementing a sensor external parameter calibration method provided in Embodiment 4 of the present application.
  • Figure 1 is a flow chart of a sensor external parameter calibration method provided in Embodiment 1 of the present application. This embodiment can be applied to the situation of calibrating external parameters between sensors. This method can be executed by a sensor external parameter calibration device. , the sensor external parameter calibration device can be implemented in the form of hardware and/or software, and the sensor external parameter calibration device can be configured in any electronic device with a sensor external parameter calibration method. As shown in Figure 1, the sensor external parameter calibration method in this embodiment may include:
  • the target device is generally equipped with a variety of sensors, and the output data of each sensor is generally output in the sensor's own coordinate system.
  • the sensor data needs to be unified into the same coordinate system, so the external parameters of the sensor need to be processed. Calibration.
  • the target device can be a mobile device that requires external parameter calibration of multiple sensors it carries, such as a mobile robot or an autonomous vehicle.
  • the external parameter is the relative position relationship or relative angle relationship between different sensors.
  • External parameter calibration may refer to the process of calibrating external parameters between target sensors mounted on the target device, and the external parameter calibration motion operation may be a motion operation used to implement external parameter calibration of the sensors mounted on the target device.
  • control target device performs an external parameter calibration motion operation, which may include the following process:
  • the target device is controlled to accelerate and decelerate along the external parameter calibration motion route of the preset shape, and the frequency of speed adjustment of the target device is greater than the preset frequency threshold.
  • the speed adjustment includes speed magnitude and/or speed direction; the acceleration and deceleration motion includes fixed acceleration, fixed deceleration, variable acceleration and variable deceleration.
  • the preset shape can be any route trajectory shape that can allow the target device to move, and can include straight trajectories and/or curve trajectories, etc., for example, it can be an "8"-shaped route, an "S"-shaped route, a "Z"-shaped route, etc., so This ensures that the external parameter calibration results can be more suitable for use in actual operating scenarios and obtain more accurate external parameter calibration values.
  • the preset shape of the external parameter calibration movement route can include going straight, sharp turns, right-angle turns, U-turns, left turns, right turns, etc.
  • the preset frequency threshold can be the minimum number of adjustments to the speed of the target device, which can be set according to the actual situation. Only by ensuring that the target device undergoes multiple speed adjustments and changes can more speed change data be obtained for the same sensor. Ensure that the amount of data is sufficient and true as much as possible, so as to avoid calibration deviations caused by individual data.
  • This technical solution controls the target device to perform multiple acceleration and deceleration movements on the preset shape of the external parameter calibration motion route, so that the speed of the target device changes multiple times, and it is convenient to record different sensors when the target device runs at different speeds.
  • the speed change value ensures that the speed change data is There are many possibilities, which avoids that the calibrated external parameters are not representative due to the small amount of data.
  • controlling the target device to accelerate and decelerate along a preset shape of the extrinsic parameter calibration motion route may include the following process:
  • the load capacity of the target equipment is adjusted, and the target equipment adjusted by the load capacity is controlled to accelerate and decelerate along the external parameter calibration motion route of the preset shape.
  • the load capacity can be the weight borne by the target device.
  • the target device can simulate the motion state of the target device when it carries items of different weights during the external parameter calibration movement, so that the target device can collect different data.
  • the sensor output value under load condition is calibrated to ensure the accuracy of external parameter calibration. If you consider that invalid data will appear when setting different load loads, you can directly set them to empty load and full load.
  • the speed change of the target equipment at different load loads is used for external parameter calibration.
  • This technical solution controls the target equipment with different load capacities to accelerate and decelerate according to the preset shape of the external parameter calibration movement route, and can record the speed changes of the target equipment in different states, avoiding the singleness of the data and realizing the data integrity.
  • Diversity makes external parameter calibration more accurate.
  • the target sensor is a detection device that can convert the detected signal into an electrical signal or other required form output according to certain rules to meet the requirements of information transmission, processing, storage, display, recording and control.
  • laser sensors for example, laser sensors, inertial sensors, displacement sensors, speed sensors and acceleration sensors, etc.
  • Rigid connection can mean that between two connecting parts, when one connecting part is displaced or stressed, the other parts connected to it will not be displaced or deformed relative to the first connecting part, that is, the two connecting parts are A whole. For example, when two connected sensors are accelerated or decelerated by the target device, there will be no relative displacement between them or the connection position between the two will not be deformed.
  • the target device When the target device performs the external parameter calibration motion operation, it determines multiple speeds of different target sensors on the target device on the preset shape of the external parameter calibration motion route, and determines multiple speeds of the corresponding target sensor based on the multiple speeds of the target sensor. amount of change.
  • the robot follows a figure-eight path
  • When performing acceleration and deceleration movements determine the multiple speed values of multiple target sensors in the robot during operation, and determine the multiple speed changes of the corresponding target sensors based on the multiple speed values of the target sensors in the robot, which can be more accurate. Determine multiple speed changes of multiple target sensors on the robot to avoid large errors caused by too little speed change data, which is conducive to the calibration of external parameters and reduces external parameter calibration errors.
  • the target device When the target device performs the external parameter calibration motion operation, it determines multiple speed changes of the target sensors corresponding to different target sensors, and calibrates the external parameters between the target sensors based on the multiple speed changes of the target sensors. For example, when the target device performs the external parameter calibration motion operation, the first speed change amount corresponding to the first sensor and the second speed change amount corresponding to the second sensor on the target device are determined within the same time interval, based on the first speed change amount of the same time interval. The speed change and the second speed change calibrate the external parameters between the first sensor and the second sensor.
  • the technical solution of the embodiment of the present application determines the target sensor speed change corresponding to different target sensors that are rigidly connected on the target device by controlling the target device to perform an external parameter calibration motion operation; based on the target sensor speed change corresponding to the different target sensors,
  • the technical solution of this application uses the speed changes between different sensors to perform external parameter calibration, which solves the difficulty of external parameter calibration caused by the difficulty of measuring sensor position data, and the possible reasons for position measurement.
  • the problem of large external parameter calibration errors caused by inaccuracy reduces the difficulty of external parameter calibration between sensors and improves the universality of external parameter calibration between sensors.
  • FIG 2 is a flow chart of a sensor external parameter calibration method provided in Embodiment 2 of the present application. This embodiment describes the target sensor speed change based on the above embodiment, and then performs external parameter calibration on different target sensors. As shown in Figure 2, the sensor external parameter calibration method in this embodiment may include:
  • the target device is equipped with different target sensors.
  • the target sensor can collect data, and the corresponding target sensor data collected by each target sensor at different collection moments can be obtained.
  • the target sensor data may include the sensor's position data, speed and direction data, acceleration data, and sensor data collection time, etc.
  • S220 Based on the target sensor data of each target sensor at multiple collection times, determine the target sensor speed change amount of each target sensor at different target time intervals; wherein each target time interval is selected from multiple collection times. The time interval between any two adjacent acquisition moments is determined, and different target time intervals do not overlap in time.
  • each target sensor in the same target time interval calculates a target sensor speed change, so that the difference in speed change between different sensors is determined.
  • the target time interval can be a time interval within the threshold time, so that multiple speed changes of the target device during movement can be obtained, thus increasing the amount of data and helping to reduce external parameter errors.
  • the threshold time can be set according to the actual situation, and can be 0.5 seconds, 1 second, or 2 seconds.
  • the target sensor data collected at different collection moments can be collected while the target device moves along a straight line during the external parameter calibration motion operation.
  • the target sensor data when the target device moves along the straight section as much as possible, because when the time interval is used to obtain the target sensor speed change, the target sensor data is collected.
  • the target sensor data when the device moves along a straight line can ensure the accuracy of the target sensor speed change obtained at the target time interval. For example, for a position sensor, if the position data at a bend is obtained, the position change data of the target time interval will become smaller when calculated, and the speed change obtained through the position change data will also become smaller, which greatly affects the data. accuracy, so target sensor data is recorded when the target device moves in a straight line.
  • determining the target sensor speed change of each target sensor at different target time intervals based on the target sensor data of each target sensor at multiple collection moments may include the following steps A1-A2:
  • Step A1 If the target sensor is suitable for speed measurement, determine the acceleration of the target sensor at multiple collection moments from the target sensor data of the target sensor at multiple collection moments.
  • Step A2 Calculate the target sensor speed change of the target sensor at different target time intervals based on the acceleration of the target sensor at multiple acquisition moments and the length of target time intervals.
  • the target sensor is suitable for speed measurement. It can collect the target sensor data of the target sensor at multiple acquisition moments during the external parameter calibration movement operation of the target device, and determine the acceleration of the target sensor at multiple acquisition moments based on the data of the target sensor. , In addition, it is also necessary to determine the different target time intervals of the target sensor, and then combine the acceleration of multiple acquisition moments of the target sensor to obtain the target sensor speed change at different target time intervals through calculation.
  • the inertial sensor during robot movement is suitable for speed measurement to obtain t 1
  • the target sensor speed changes at different target time intervals can be obtained. This makes the speed change of the target sensor more accurate.
  • i is a positive integer greater than zero.
  • This technical solution determines the acceleration of multiple acquisition moments of the target sensor suitable for speed measurement, and obtains the target sensor speed change at different target time intervals through accurate calculation, thereby achieving the accuracy and acquisition of the target sensor speed change.
  • the simplicity determines the acceleration of multiple acquisition moments of the target sensor suitable for speed measurement, and obtains the target sensor speed change at different target time intervals through accurate calculation, thereby achieving the accuracy and acquisition of the target sensor speed change.
  • determining the target sensor speed change of each target sensor at different target time intervals based on the target sensor data of each target sensor at multiple collection moments may include the following steps B1-B2:
  • Step B1 If the target sensor is suitable for position measurement, determine the sensor position of the target sensor at multiple collection moments from the target sensor data of the target sensor at multiple collection moments.
  • Step B2 Calculate the change amount of the target sensor speed of the target sensor at different target time intervals based on the sensor position of the target sensor at multiple collection moments and the length of target time intervals.
  • the target sensor is suitable for position measurement. It can collect the target sensor data of the target sensor at multiple collection moments during the external parameter calibration movement operation of the target device, and determine the sensor of the target sensor at multiple collection moments based on the data of the target sensor. In addition, it is also necessary to determine the different target time intervals of the target sensor, and then combine the sensor positions of the target sensor at multiple acquisition moments to obtain the target sensor speed change at different target time intervals through calculation.
  • the laser sensor on the robot is suitable for position measurement, and the laser odometry technology is used to obtain the position of the laser sensor at time t 0 for:
  • the target sensor speed changes at different target time intervals can be obtained. This makes the target sensor speed change more accurate.
  • i is a positive integer greater than zero.
  • This technical solution determines the positions of multiple collection moments of a target sensor that is suitable for position measurement. Although it is easier to obtain position data, some target sensors such as inertial measurement sensors cannot easily obtain position data, which is inconsistent with the target sensor that performs position measurement. It is very difficult to calibrate the external parameters of the sensor, so it is necessary to obtain the speed change of the target sensor for position measurement at different target time intervals through simple and accurate calculations, thereby achieving the accuracy and simplicity of acquisition of the speed change of the target sensor. For example, obtain the position of the laser sensor at multiple collection moments, determine the position information of different time intervals and the corresponding start time and end time of the time interval, determine the speed change amount of multiple target time intervals, and complete the speed measurement simply and accurately. The acquisition of variation also makes it easier to calibrate external parameters.
  • performing external parameter calibration on different target sensors based on the speed changes of the target sensors corresponding to the different target sensors may include the following steps C1-C2:
  • Step C1 Use the external parameter calibration parameter variable to be optimized and the target sensor speed change corresponding to the two target sensors within the same target time interval to construct the speed residual between the target sensors; the speed residual is used to describe the speed of different sensors through the external The difference between the speed changes when the parameters are converted to the same coordinate system.
  • Step C2 Optimize the velocity residuals between target sensors at different target time intervals and determine the optimized values of the external parameter calibration parameters to be optimized.
  • the external parameter calibration parameter variables to be optimized can be original external parameter parameters with certain errors obtained through machining parameters or direct measurement before performing the external parameter calibration operation.
  • the speed residual between the target sensors is constructed by using the external parameter calibration parameter variable to be optimized and the target sensor speed change corresponding to the two target sensors within the same target time interval.
  • the parameter variable U is calibrated by the external parameters to be optimized and combined with the parameters of the inertial sensor within the same time interval.
  • speed change and the speed change of the laser sensor The formula for the velocity residual characterized by the difference in velocity change between the two sensors can be derived as follows:
  • optimizing the speed residuals between target sensors at different target time intervals may include the following steps D1-D2:
  • Step D1 The sum of the multiplication results between the speed residuals between target sensors corresponding to different target time intervals and the transpose of the speed residuals between the target sensors is used as the objective function.
  • Step D2 Solve the objective function and determine the value of the external parameter calibration parameter variable to be optimized when the objective function takes the minimum value.
  • the speed residual After the speed residual is determined, in order to obtain accurate external parameters, it needs to be optimized. Then it is necessary to transpose the speed residual between target sensors corresponding to different target time intervals and the speed residual between target sensors.
  • the sum of the multiplication results is used as the objective function, the objective function is solved, and the minimum value obtained by solving the objective function is used as the optimized value of the external parameter calibration parameter variable to be optimized. For example, during the movement of the robot, the speed residual between the inertial sensor and the laser sensor has been obtained, then the objective function is:
  • the optimized value of the external parameter calibration parameter variable to be optimized is obtained.
  • the optimized value of the external parameter calibration parameter variable to be optimized can be used as the external parameter for sensor calibration.
  • the external parameters are calibrated again to ensure the accuracy of the operation of the target equipment; the dynamic calibration method can also be used to add the new speed change to obtain the optimized value of the external parameter calibration parameter variable to be optimized.
  • the objective function is used to optimize them. After accurate calculation, higher-precision external parameters are obtained, which reduces the errors between the target sensors and ensures that the target Accuracy of equipment operation.
  • the technical solution of the embodiment of the present application determines the target sensor speed change corresponding to different target sensors that are rigidly connected on the target device by controlling the target device to perform an external parameter calibration motion operation; based on the target sensor speed change corresponding to the different target sensors,
  • the technical solution of this application uses the speed changes between different sensors to perform external parameter calibration, which solves the difficulty of external parameter calibration caused by the difficulty of measuring the sensor position, and the possible reasons for position measurement. It solves the problem of large external parameter calibration errors caused by inaccurate measurement, reduces the difficulty of external parameter calibration between sensors, and at the same time improves the accuracy of external parameter calibration between sensors.
  • Figure 3 is a schematic structural diagram of a sensor external parameter calibration device provided according to Embodiment 3 of the present application. As shown in Figure 3, the device includes:
  • the control module 310 is configured to control the target device to perform an external parameter calibration motion operation.
  • the speed change determination module 320 is configured to determine the target sensor speed change corresponding to different target sensors on the target device when the external parameter calibration motion operation is performed; wherein the different sensors are mounted on the target device through rigid connections.
  • the calibration module 330 is configured to perform external parameter calibration on different target sensors based on the speed changes of the target sensors corresponding to the different target sensors.
  • control module 310 is configured as:
  • control module 310 includes an operating unit configured to:
  • the load capacity of the target equipment is adjusted, and the target equipment adjusted by the load capacity is controlled to accelerate and decelerate along the external parameter calibration motion route of the preset shape.
  • the speed change determination module 320 is configured as:
  • each target sensor determine the target sensor data corresponding to the target sensor collected when the target device performs the external parameter calibration motion operation at multiple collection times; based on the target sensor data of each target sensor at multiple collection times, Determine the target sensor speed change amount of each target sensor at different target time intervals; wherein each target time interval is determined by the time interval between any two adjacent collection moments selected from multiple collection moments, Different target intervals do not overlap in time.
  • the speed change determination module 320 includes a first speed change determination unit, which is configured as:
  • the target sensor is suitable for speed measurement, determine the acceleration of the target sensor at multiple collection moments from the target sensor data at multiple collection moments; calculate based on the acceleration of the target sensor at multiple collection moments and the length of the target time interval.
  • the target sensor speed change amount of the target sensor at different target time intervals.
  • the speed change determination module 320 includes a second speed change determination unit, which is configured as:
  • the target sensor is suitable for position measurement, determine the sensor position of the target sensor at multiple collection moments from the target sensor data of the target sensor at multiple collection moments; based on the sensor position of the target sensor at multiple collection moments and the length of the target time interval , calculate the target sensor speed change of the target sensor at different target time intervals.
  • the target sensor data collected at different collection times are collected when the target device moves along a straight line during the external parameter calibration motion operation.
  • the calibration module 330 is configured as:
  • the speed residual between the target sensors is constructed; the speed residual is used to describe the conversion of different sensors through external parameters. Under the same coordinate system, the difference between the velocity changes; optimize the velocity residuals between target sensors at different target time intervals to determine the optimized values of the external parameter calibration parameters to be optimized.
  • the calibration module 330 includes an optimization unit, which is configured as:
  • the sum of the multiplication results between the velocity residuals between target sensors corresponding to different target time intervals and the transpose of the velocity residuals between the target sensors is used as the objective function; the objective function is solved to determine the target The value of the external parameter calibration parameter variable to be optimized when the function takes the minimum value.
  • the sensor external parameter calibration device provided in the embodiments of the present application can execute the sensor external parameter calibration method provided in any embodiment of the present application, and has the corresponding functions and effects of executing the sensor external parameter calibration method.
  • the sensor external parameter calibration method provided in any embodiment of the present application, and has the corresponding functions and effects of executing the sensor external parameter calibration method.
  • the detailed process please refer to the aforementioned implementation.
  • FIG. 4 shows a schematic structural diagram of an electronic device that can be used to implement the sensor external parameter calibration method according to the embodiment of the present application.
  • Electronic device 10 is intended to represent many forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers.
  • Electronic device 10 may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (eg, helmets, glasses, watches, etc.), and other similar computing devices.
  • the components shown herein, their connections and relationships, and their functions are examples only and are not intended to limit the implementation of the present application as described and/or claimed herein.
  • the electronic device 10 includes at least one processor 11, and at least one processor 11.
  • a memory that is communicatively connected to the processor 11, such as a read-only memory (Read-Only Memory, ROM) 12, a random access memory (Random Access Memory, RAM) 13, etc., wherein the memory stores computer programs that can be executed by at least one processor.
  • the processor 11 can perform a variety of appropriate actions and processes according to the computer program stored in the ROM 12 or loaded from the storage unit 18 into the RAM 13 .
  • the RAM 13 various programs and data required for the operation of the electronic device 10 can also be stored.
  • the processor 11, the ROM 12 and the RAM 13 are connected to each other via the bus 14.
  • An input/output (I/O) interface 15 is also connected to the bus 14 .
  • the I/O interface 15 Multiple components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc. etc.; and communication unit 19, such as network card, modem, wireless communication transceiver, etc.
  • the communication unit 19 allows the electronic device 10 to exchange information/data with other devices through computer networks such as the Internet and/or various telecommunications networks.
  • Processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the processor 11 include a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU), a variety of dedicated artificial intelligence (Artificial Intelligence, AI) computing chips, a variety of running machine learning models Algorithm processor, digital signal processor (Digital Signal Processor, DSP), and any appropriate processor, controller, microcontroller, etc.
  • the processor 11 executes multiple methods and processes described above, such as the sensor external parameter calibration method.
  • the sensor external parameter calibration method can be implemented as a computer program, which is tangibly included in a computer-readable storage medium, such as the storage unit 18 .
  • part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19.
  • the processor 11 may be configured to perform the sensor extrinsic parameter calibration method in any other suitable manner (for example, by means of firmware).
  • FPGAs Field Programmable Gate Arrays
  • ASICs Application Specific Integrated Circuits
  • ASSP Application Specific Standard Parts
  • SOC System on Chip
  • CPLD Complex Programmable Logic Device
  • programmable processor can be A special-purpose or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device. device.
  • Computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that the computer program, when executed by the processor, causes the functions/operations specified in the flowcharts and/or block diagrams to be implemented.
  • a computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
  • a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device.
  • Computer-readable storage media may include electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any suitable combination of the foregoing.
  • the computer-readable storage medium may be a machine-readable signal medium.
  • machine-readable storage media examples include one or more wire-based electrical connections, laptop disks, hard drives, RAM, ROM, Erasable Programmable Read-Only Memory (EPROM), or flash memory ), optical fiber, portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • the systems and techniques described herein may be implemented on an electronic device having a display device (e.g., a cathode ray tube (CRT) or liquid crystal) configured to display information to a user.
  • a display device e.g., a cathode ray tube (CRT) or liquid crystal
  • a display Liquid Crystal Display, LCD monitor
  • a keyboard and pointing device e.g., a mouse or a trackball
  • Other kinds of devices may also be configured to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and may be provided in any form, including Acoustic input, voice input or tactile input) to receive input from the user.
  • the systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., A user's computer having a graphical user interface or web browser through which the user can interact with implementations of the systems and technologies described herein), or including such backend components, middleware components, or any combination of front-end components in a computing system.
  • the components of the system may be interconnected by any form or medium of digital data communication (eg, a communications network). Examples of communication networks include: Local Area Network (LAN), Wide Area Network (WAN), blockchain network and the Internet.
  • Computing systems may include clients and servers.
  • Clients and servers are generally remote from each other and typically interact over a communications network.
  • the relationship of client and server is created by computer programs running on corresponding computers and having a client-server relationship with each other.
  • the server can be a cloud server, also known as cloud computing server or cloud host. It is a host product in the cloud computing service system to solve the problems that exist in traditional physical host and virtual private server (VPS) services. It has the disadvantages of difficult management and weak business scalability.
  • VPN virtual private server
  • Steps can be reordered, added, or removed using various forms of the process shown above.
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Abstract

传感器外参标定方法、装置以及电子设备。所述传感器外参标定方法包括：控制目标设备执行外参标定运动操作(S110)；确定执行外参标定运动操作时目标设备上不同目标传感器对应的目标传感器速度变化量；其中不同传感器通过刚性连接搭载于目标设备(S120)；依据不同目标传感器对应的目标传感器速度变化量，对不同目标传感器进行外参标定(S130)。

Description

传感器外参标定方法、装置以及电子设备
本申请要求在2022年07月20日提交中国专利局、申请号为202210861100.8的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及传感器标定技术领域，例如涉及传感器外参标定方法、装置以及电子设备。
背景技术
传感器之间外参标定是移动机器人与自动驾驶领域的重要需求。通常移动机器人与自动驾驶车辆上会搭载多种传感器，例如相机、激光雷达以及惯性测量传感器等。相关技术中，通常可以利用机器人移动后，机器人上搭载的多个传感器之间的位置变化来进行外参标定，但是类似惯性测量传感器，其相对位置变化量的测量比较困难，进行传感器之间的外参标定难度较大，且很有可能因位置测量不准确导致出现较大的外参标定误差。
发明内容
本申请提供了传感器外参标定方法、装置以及电子设备，以解决因传感器位置测量难度大所造成的外参标定难度大以及可能因位置测量不准确造成的外参标定误差大的问题。
根据本申请的一方面，提供了一种传感器外参标定方法，所述方法包括：
控制目标设备执行外参标定运动操作；
确定执行外参标定运动操作时所述目标设备上不同目标传感器对应的目标传感器速度变化量；其中，不同传感器通过刚性连接搭载于所述目标设备；
依据不同目标传感器对应的目标传感器速度变化量，对不同目标传感器进行外参标定。
根据本申请的另一方面，提供了一种传感器外参标定装置，所述装置包括：
控制模块，设置为控制目标设备执行外参标定运动操作；
速度变化量确定模块，设置为确定执行外参标定运动操作时所述目标设备上不同目标传感器对应的目标传感器速度变化量；其中，不同传感器通过刚性连接搭载于所述目标设备；
标定模块，设置为依据不同目标传感器对应的目标传感器速度变化量，对不同目标传感器进行外参标定。
根据本申请的另一方面，提供了一种电子设备，所述电子设备包括：
至少一个处理器；以及
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的计算机程序，所述计算机程序被所述至少一个处理器执行，以使所述至少一个处理器能够执行上述的传感器外参标定方法。
根据本申请的另一方面，提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机指令，所述计算机指令用于使处理器执行时实现上述的传感器外参标定方法。
附图说明
图1是本申请实施例一提供的一种传感器外参标定方法的流程图；
图2是本申请实施例二提供的一种传感器外参标定方法的流程图；
图3是本申请实施例三提供的一种传感器外参标定装置的结构示意图；
图4是本申请实施例四提供的一种实现传感器外参标定方法的电子设备的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述，所描述的实施例仅仅是本申请一部分的实施例。
本申请的说明书和权利要求书及上述附图中的术语“目标”、“预设”和“待优化”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于列出的那些步骤或单元，而是可包括没有列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
实施例一
图1是本申请实施例一提供的一种传感器外参标定方法的流程图，本实施例可适用于对传感器之间的外参进行标定的情况，该方法可以由传感器外参标定装置来执行，该传感器外参标定装置可以采用硬件和/或软件的形式实现，该传感器外参标定装置可配置于任何具有传感器外参标定方法的电子设备中。如图1所示，本实施例的传感器外参标定方法，可包括：
S110、控制目标设备执行外参标定运动操作。
本申请适用于传感器外参标定的场景。例如，目标设备上一般会搭载多种传感器，每个传感器的输出数据一般都在传感器自身的坐标系下输出数据，需要将传感器的数据统一到相同的坐标系下，因此需要对传感器外参进行标定。
目标设备可以是需要对自身搭载的多个传感器进行外参标定的移动设备，例如移动机器人或者自动驾驶车辆。外参为不同传感器之间的相对位置关系或者相对角度关系。外参标定可以是指对目标设备上搭载的目标传感器之间的外参进行标定的过程，外参标定运动操作可以是实现对目标设备中搭载的传感器进行外参标定所采用的运动操作。
在一个实施例中，所述控制目标设备执行外参标定运动操作，可以包括以下过程：
控制目标设备沿预设形状的外参标定运动路线进行加减速移动，且使目标设备的速度调整的频次大于预设频次阈值。
所述速度调整包括速度大小和/或速度方向；所述加减速运动包括固定加速、固定减速、变加速以及变减速。
预设形状可以是任何可以让目标设备运动的路线轨迹形状，可以包括直线轨迹和/或曲线轨迹等，例如可以是“8”字形路线，“S”字形路线，“Z”字形路线等，这样保证外参标定结果能更加适配实际运行场景进行使用，获得更准确的外参标定值。预设形状的外参标定运动路线可以包括直行、急转弯、直角转弯、掉头、左转、右转等。
预设频次阈值可以是对目标设备速度进行调整的最少调整次数，可根据实际情况设定，只有保证目标设备进行多次速度调整改变，针对同一个传感器才能得到更多的速度变化量数据，以尽可能保证数据量的充足和真实，这样才可以避免因为个别数据导致出现标定偏差。
本技术方案，通过控制目标设备在预设形状的外参标定运动路线上，进行多次加减速运动，以使目标设备的速度进行了多次改变，方便记录目标设备按照不同速度运行时不同传感器的速度变化量数值，保证了速度变化量的数据尽 可能的多，避免了因为数据量少导致标定的外参不具有代表性。
在一个实施例中，控制目标设备沿预设形状的外参标定运动路线进行加减速移动，可包括以下过程：
对所述目标设备的载重量进行调整，控制经载重量调整的目标设备沿预设形状的外参标定运动路线进行加减速移动。
载重量可以是目标设备所承受的重量，通过调整目标设备所承载的物品的重量，可以让目标设备在外参标定运动过程中模拟目标设备承载不同重量物品时的运动状态，以便目标设备能够采集不同载重情况时的传感器输出数值进行标定，保证外参标定的准确性。如果考虑到设置不同载重会出现无效数据，可以直接设置为空载和满载。
调整目标设备的载重量，并控制目标设备在具备不同载重量时按照预设形状的外参标定运动路线进行加减速移动，且使目标设备的速度调整的频次大于预设频次阈值。例如，当目标设备处于空载状态时，控制目标设备按照8字形的运动路线进行加减速运动，再使目标设备处于满载状态，控制目标设备按照8字形的运动路线进行加减速运动；分别记录处于不同载重量时的目标设备的速度变化量，以进行外参标定。
本技术方案，通过控制不同载重量的目标设备按照预设形状的外参标定运动路线进行加减速运动，可以记录不同状态下目标设备的速度变化量，避免了数据的单一性，实现了数据的多样性，使外参标定更加准确。
S120、确定执行外参标定运动操作时所述目标设备上不同目标传感器对应的目标传感器速度变化量；其中不同传感器通过刚性连接搭载于所述目标设备。
目标传感器是一种检测装置，能够将检测到的信号按一定规律变换成为电信号或其他所需形式输出，以满足信息的传输、处理、存储、显示、记录和控制等要求。例如激光传感器、惯性传感器、位移传感器、速度传感器和加速度传感器等。
刚性连接可以是指两个连接件之间，当一个连接部件产生位移或受力时，与之相连的其他部件不相对于第一个连接部件产生位移或相对变形，也就是两个连接件为一个整体。例如两个连接的传感器，在目标设备加减速时，彼此之间不会产生相对位移或者两者之间的连接位置不会发生形变。
目标设备在执行外参标定运动操作时，确定目标设备上不同目标传感器在预设形状的外参标定运动路线上的多个速度，根据目标传感器的多个速度确定对应的目标传感器的多个速度变化量。例如，机器人按照8字形路线进 行加减速运动时，确定在运行过程中机器人中的多个目标传感器的多个速度值，依据机器人中目标传感器的多个速度值确定对应的目标传感器的多个速度变化量，这样可以更加精准的确定机器人上的多个目标传感器的多个速度变化量，避免因为速度变化量数据太少而导致误差比较大，有利于对外参的标定，降低外参标定误差。
S130、依据不同目标传感器对应的目标传感器速度变化量，对不同目标传感器进行外参标定。
目标设备在进行外参标定运动操作时，确定不同目标传感器对应的目标传感器的多个速度变化量，依据目标传感器的多个速度变化量对目标传感器之间的外参进行标定。示例的，目标设备执行外参标定运动操作时，确定同一时间间隔内目标设备上第一传感器对应的第一速度变化量与第二传感器对应的第二速度变化量，依据同一时间间隔的第一速度变化量与第二速度变化量，对第一传感器与第二传感器之间的外参进行标定。
本申请实施例的技术方案，通过控制目标设备执行外参标定运动操作，确定目标设备上通过刚性连接的不同目标传感器对应的目标传感器速度变化量；依据不同目标传感器对应的目标传感器速度变化量，对不同目标传感器进行外参标定，本申请技术方案借助不同传感器之间的速度变化情况进行外参标定，解决了因为传感器位置数据测量难度大所造成的外参标定难度大，以及可能因为位置测量不准确造成的外参标定误差大的问题，降低了传感器之间的外参标定难度，提高了传感器之间的外参标定普适性。
实施例二
图2是本申请实施例二提供的一种传感器外参标定方法的流程图，本实施例在上述实施例的基础上对目标传感器速度变化量进行描述，进而对不同目标传感器进行外参标定。如图2所示，本实施例的传感器外参标定方法，可包括：
S210、针对每个目标传感器，确定在多个采集时刻所述目标设备执行外参标定运动操作时，所采集的目标传感器对应的目标传感器数据。
目标设备上搭载不同的目标传感器，在目标设备执行外参标定运动操作的过程中，目标传感器可以数据采集，即可得到每个目标传感器在不同采集时刻所采集的其各自对应的目标传感器数据。其中，目标传感器数据可以包括传感器的位置数据、速度大小和方向的数据、加速度数据以及传感器的数据采集时刻等。
S220、依据每个目标传感器在多个采集时刻的目标传感器数据，确定该每个目标传感器在不同目标时间间隔的目标传感器速度变化量；其中，每个目标时间间隔通过从多个采集时刻中选取的任意两个相邻采集时刻之间的时间间隔进行确定，不同目标时间间隔在时间上不重叠。
对于每个目标时间间隔，多个目标传感器均需要获得一个目标传感器速度变化量，即同一目标时间间隔每个目标传感器计算得到一个目标传感器速度变化量，这样在确定不同传感器之间速度变化量差异时可以使用同一时间间隔的速度变化量来表征。其中，目标时间间隔可以取阈值时间内的时间间隔，这样可以获取目标设备在运动过程中多个速度变化量，从而增加了数据量，有利于减小外参误差。阈值时间可以根据实际情况进行设定，可以是0.5秒、1秒或者2秒等。
不同采集时刻采集的目标传感器数据可以在目标设备执行外参标定运动操作过程中沿直线移动时采集得到。
无论目标设备沿何种预设形状的外参标定运动路线进行加减速移动，均尽可能采集目标设备沿直线路段移动时的目标传感器数据，因为取时间间隔获取目标传感器速度变化量时，采集目标设备沿直线移动时的目标传感器数据，能够保证目标时间间隔获取的目标传感器速度变化量的准确性。例如对于位置传感器，若获取到弯曲处的位置数据，则计算目标时间间隔的位置变化数据时会变小，那么通过位置变化数据获取到的速度变化量也会变小，极大的影响了数据的准确性，所以要记录目标设备沿直线移动时的目标传感器数据。
在一个实施例中，依据每个目标传感器在多个采集时刻的目标传感器数据，确定该每个目标传感器在不同目标时间间隔的目标传感器速度变化量，可包括以下步骤A1-A2：
步骤A1、若目标传感器适用进行速度测量，则从目标传感器在多个采集时刻的目标传感器数据中确定目标传感器在多个采集时刻的加速度。
步骤A2、依据目标传感器在多个采集时刻的加速度和目标时间间隔时长，计算目标传感器在不同目标时间间隔的目标传感器速度变化量。
适用于进行速度测量的目标传感器，可以在目标设备进行外参标定运动操作过程中，采集目标传感器在多个采集时刻的目标传感器数据，依据目标传感器的数据确定目标传感器在多个采集时刻的加速度，此外，还需要确定目标传感器的不同目标时间间隔，再结合目标传感器的多个采集时刻的加速度，通过计算获得不同目标时间间隔的目标传感器速度变化量。
示例的，在机器人运动过程中的惯性传感器适用于进行速度测量，获取t1 时刻的惯性传感器的加速度，令加速度为：
同理，获得t2时刻惯性传感器的加速度则在t2时刻惯性传感器的速度变化量相对于t1时刻为：
按照上述方法可获得不同目标时间间隔的目标传感器速度变化量使得目标传感器的速度变化量更加准确。其中，i为大于零的正整数。
本技术方案，确定适用于进行速度测量的目标传感器的多个采集时刻的加速度后，通过精确地计算获得不同目标时间间隔的目标传感器速度变化量，实现了目标传感器速度变化量的准确性和获取的简易性。
在一个实施例中，依据每个目标传感器在多个采集时刻的目标传感器数据，确定该每个目标传感器在不同目标时间间隔的目标传感器速度变化量，可包括以下步骤B1-B2：
步骤B1、若目标传感器适用进行位置测量，则从目标传感器在多个采集时刻的目标传感器数据中确定目标传感器在多个采集时刻的传感器位置。
步骤B2、依据目标传感器在多个采集时刻的传感器位置和目标时间间隔时长，计算目标传感器在不同目标时间间隔的目标传感器速度变化量。
适用于进行位置测量的目标传感器，可以在目标设备进行外参标定运动操作过程中，采集目标传感器在多个采集时刻的目标传感器数据，依据目标传感器的数据确定目标传感器在多个采集时刻的传感器位置，此外，还需要确定目标传感器的不同目标时间间隔，再结合目标传感器的多个采集时刻的传感器位置，通过计算获得不同目标时间间隔的目标传感器速度变化量。
示例的，在机器人运动过程中，对于机器人上的激光传感器，适用于进行位置测量，则使用激光里程计技术获取激光传感器t0时刻的位置为：
同理，获取t2时刻激光传感器的位置假定车辆在目标时间间隔内为匀速运动，t0<t1<t2，且t0、t1、t2时刻在阈值时间段内，则t1时刻激光传感器的速度为：
同理，获取t2时刻激光传感器的速度则t2时刻激光传感器速度变化量相对于t1时刻为：
按照上述方法可获得不同目标时间间隔的目标传感器速度变化量使得目标传感器速度变化量更加准确。其中，i为大于零的正整数。
本技术方案，确定适用于进行位置测量的目标传感器的多个采集时刻的位置，虽然位置数据的获取更加容易，但是有些目标传感器比如惯性测量传感器无法轻松获取位置数据，从而与进行位置测量的目标传感器进行外参标定非常困难，所以需要通过简单准确地计算获取不同目标时间间隔的进行位置测量的目标传感器的速度变化量，实现了目标传感器速度变化量的准确性和获取的简易性。例如，获取激光传感器在多个采集时刻的位置，通过确定不同时间间隔以及对应时间间隔起始时间与终止时间各自的位置信息，确定多个目标时间间隔的速度变化量，简单准确的完成了速度变化量的获取，也更容易进行外参标定。
在一个实施例中，依据不同目标传感器对应的目标传感器速度变化量，对不同目标传感器进行外参标定，可包括以下步骤C1-C2：
步骤C1、采用待优化外参标定参数变量与相同目标时间间隔内两个目标传感器对应的目标传感器速度变化量，构建目标传感器间的速度残差；所述速度残差用于描述不同传感器通过外参转换到相同坐标系下，速度变化量之间的差值。步骤C2、对不同目标时间间隔的目标传感器间的速度残差进行优化，确定待优化外参标定参数的优化值。
待优化外参标定参数变量可以是在进行外参标定操作之前，通过机械加工参数或直接测量的方式，获得的存在一定误差的原始外参参数。
采用待优化外参标定参数变量与相同目标时间间隔内两个目标传感器对应的目标传感器速度变化量，构建目标传感器间的速度残差。例如，在机器人运动过程中，以两个传感器分别为惯性传感器和激光传感器作为行进中每个目标时间间隔相同的目标传感器，则通过待优化外参标定参数变量U结合同一时间间隔内惯性传感器的速度变化量和激光传感器的速度变化量可以得出通过两个传感器之间的速度变化量差异表征的速度残差的公式，如下：
i为大于零的正整数，ti表示目标时间间隔的终止时间，目标时间间隔的起 始时间为ti-1。本技术方案，通过待优化外参标定参数变量与相同目标时间间隔内两个目标传感器对应的目标传感器速度变化量，得出目标传感器间的速度残差，当目标传感器之间的速度残差越小，说明当前的外参参数更加贴合实际，可以缩小标定时的误差，所以需要对速度残差进行优化，来确定待优化外参标定参数的优化值，使外参更加准确。
在一个实施例中，对不同目标时间间隔的目标传感器间的速度残差进行优化，可包括以下步骤D1-D2：
步骤D1、将不同目标时间间隔对应的目标传感器间的速度残差与所述目标传感器间的速度残差的转置之间相乘结果的求和作为目标函数。
步骤D2、对所述目标函数进行求解，确定使目标函数取最小值时所述待优化外参标定参数变量的取值。
当确定了速度残差后，为了可以得到准确的外参，需要对其进行优化，那需要将不同目标时间间隔对应的目标传感器间的速度残差与目标传感器间的速度残差的转置之间相乘结果的求和作为目标函数，对目标函数进行求解，将目标函数求解所得的最小值作为待优化外参标定参数变量的优化值。例如，在机器人运动过程中，惯性传感器和激光传感器之间的速度残差已经获得，则目标函数为：
通过对目标函数进行求解，获得其最小值，则得到待优化外参标定参数变量的优化值。此外，标定结束后可以将待优化外参标定参数变量的优化值作为传感器标定的外参，但是随着时间的推移，由于多种实际原因，外参值误差会变大，所以需要在一段时间之后，对外参进行再一次的标定，以确保目标设备运行的准确性；也可以使用动态标定方法，将新增的速度变化量进行加入，以得到待优化外参标定参数变量的优化值。
本技术方案，在获得目标传感器之间的速度残差后，利用目标函数对其进行优化，经过准确的计算后获得了精度较高的外参，降低了目标传感器之间的误差，确保了目标设备运行的准确性。
本申请实施例的技术方案，通过控制目标设备执行外参标定运动操作，确定目标设备上通过刚性连接的不同目标传感器对应的目标传感器速度变化量；依据不同目标传感器对应的目标传感器速度变化量，对不同目标传感器进行外参标定，本申请技术方案借助不同传感器之间的速度变化情况进行外参标定，解决了因为传感器位置测量难度大所造成的外参标定难度大，以及可能因为位 置测量不准确造成的外参标定误差大的问题，降低了传感器之间的外参标定难度，同时提高了传感器之间外参标定的精度。
实施例三
图3为根据本申请实施例三提供的一种传感器外参标定装置的结构示意图。如图3所示，该装置包括：
控制模块310，设置为控制目标设备执行外参标定运动操作。
速度变化量确定模块320，设置为确定执行外参标定运动操作时所述目标设备上不同目标传感器对应的目标传感器速度变化量；其中，不同传感器通过刚性连接搭载于所述目标设备。
标定模块330，设置为依据不同目标传感器对应的目标传感器速度变化量，对不同目标传感器进行外参标定。
一实施例中，控制模块310，设置为：
控制目标设备沿预设形状的外参标定运动路线进行加减速移动，且使目标设备的速度调整的频次大于预设频次阈值；其中，所述速度调整包括速度大小和/或速度方向；所述加减速运动包括固定加速、固定减速、变加速以及变减速。
一实施例中，控制模块310包含操作单元，设置为：
对所述目标设备的载重量进行调整，控制经载重量调整的目标设备沿预设形状的外参标定运动路线进行加减速移动。
一实施例中，速度变化量确定模块320，设置为：
针对每个目标传感器，确定在多个采集时刻所述目标设备执行外参标定运动操作时，所采集的目标传感器对应的目标传感器数据；依据每个目标传感器在多个采集时刻的目标传感器数据，确定所述每个目标传感器在不同目标时间间隔的目标传感器速度变化量；其中，每个目标时间间隔通过从多个采集时刻中选取的任意两个相邻采集时刻之间的时间间隔进行确定，不同目标时间间隔在时间上不重叠。
一实施例中，速度变化量确定模块320包含第一速度变化量确定单元，设置为：
若目标传感器适用进行速度测量，则从目标传感器在多个采集时刻的目标传感器数据中确定目标传感器在多个采集时刻的加速度；依据目标传感器在多个采集时刻的加速度和目标时间间隔时长，计算目标传感器在不同目标时间间隔的目标传感器速度变化量。
一实施例中，速度变化量确定模块320包含第二速度变化量确定单元，设置为：
若目标传感器适用进行位置测量，则从目标传感器在多个采集时刻的目标传感器数据中确定目标传感器在多个采集时刻的传感器位置；依据目标传感器在多个采集时刻的传感器位置和目标时间间隔时长，计算目标传感器在不同目标时间间隔的目标传感器速度变化量。
一实施例中，不同采集时刻采集的目标传感器数据在目标设备执行外参标定运动操作过程中沿直线移动时采集得到。
一实施例中，标定模块330，设置为：
采用待优化外参标定参数变量与相同目标时间间隔内两个目标传感器对应的目标传感器速度变化量，构建目标传感器间的速度残差；所述速度残差用于描述不同传感器通过外参转换到相同坐标系下，速度变化量之间的差值；对不同目标时间间隔的目标传感器间的速度残差进行优化，确定待优化外参标定参数的优化值。
一实施例中，标定模块330包含优化单元，设置为：
将不同目标时间间隔对应的目标传感器间的速度残差与所述目标传感器间的速度残差的转置之间相乘结果的求和作为目标函数；对所述目标函数进行求解，确定使目标函数取最小值时所述待优化外参标定参数变量的取值。
本申请实施例中所提供的传感器外参标定装置可执行上述本申请任意实施例中所提供的传感器外参标定方法，具备执行该传感器外参标定方法相应的功能和效果，详细过程参见前述实施例中传感器外参标定方法的相关操作。
实施例四
图4示出了可以用来实现本申请实施例的传感器外参标定方法的电子设备的结构示意图。电子设备10旨在表示多种形式的数字计算机，诸如，膝上型计算机、台式计算机、工作台、个人数字助理、服务器、刀片式服务器、大型计算机、和其它适合的计算机。电子设备10还可以表示多种形式的移动装置，诸如，个人数字处理、蜂窝电话、智能电话、可穿戴设备(如头盔、眼镜、手表等)和其它类似的计算装置。本文所示的部件、它们的连接和关系、以及它们的功能仅仅作为示例，并且不意在限制本文中描述的和/或者要求的本申请的实现。
如图4所示，电子设备10包括至少一个处理器11，以及与至少一个处 理器11通信连接的存储器，如只读存储器(Read-Only Memory，ROM)12、随机访问存储器(Random Access Memory，RAM)13等，其中，存储器存储有可被至少一个处理器执行的计算机程序，处理器11可以根据存储在ROM 12中的计算机程序或者从存储单元18加载到RAM 13中的计算机程序，来执行多种适当的动作和处理。在RAM 13中，还可存储电子设备10操作所需的多种程序和数据。处理器11、ROM 12以及RAM 13通过总线14彼此相连。输入/输出(Input/Output，I/O)接口15也连接至总线14。
电子设备10中的多个部件连接至I/O接口15，包括：输入单元16，例如键盘、鼠标等；输出单元17，例如多种类型的显示器、扬声器等；存储单元18，例如磁盘、光盘等；以及通信单元19，例如网卡、调制解调器、无线通信收发机等。通信单元19允许电子设备10通过诸如因特网的计算机网络和/或各种电信网络与其他设备交换信息/数据。
处理器11可以是多种具有处理和计算能力的通用和/或专用处理组件。处理器11的一些示例包括中央处理单元(Central Processing Unit，CPU)、图形处理单元(Graphics Processing Unit，GPU)、多种专用的人工智能(Artificial Intelligence，AI)计算芯片、多种运行机器学习模型算法的处理器、数字信号处理器(Digital Signal Processor，DSP)、以及任何适当的处理器、控制器、微控制器等。处理器11执行上文所描述的多个方法和处理，例如传感器外参标定方法。
在一些实施例中，传感器外参标定方法可被实现为计算机程序，其被有形地包含于计算机可读存储介质，例如存储单元18。在一些实施例中，计算机程序的部分或者全部可以经由ROM 12和/或通信单元19而被载入和/或安装到电子设备10上。当计算机程序加载到RAM 13并由处理器11执行时，可以执行上文描述的传感器外参标定方法的一个或多个步骤。备选地，在其他实施例中，处理器11可以通过其他任何适当的方式(例如，借助于固件)而被配置为执行传感器外参标定方法。
本文中以上描述的系统和技术的多种实施方式可以在数字电子电路系统、集成电路系统、场可编程门阵列(Field Programmable Gate Array，FPGA)、专用集成电路(Application Specific Integrated Circuit，ASIC)、专用标准产品(Application Specific Standard Parts，ASSP)、芯片上的系统(SOC)、复杂可编程逻辑设备(Complex Programmable Logic Device，CPLD)、计算机硬件、固件、软件、和/或它们的组合中实现。这些多种实施方式可以包括：实施在一个或者多个计算机程序中，该一个或者多个计算机程序可在包括至少一个可编程处理器的可编程系统上执行和/或解释，该可编程处理器可以是 专用或者通用可编程处理器，可以从存储系统、至少一个输入装置、和至少一个输出装置接收数据和指令，并且将数据和指令传输至该存储系统、该至少一个输入装置、和该至少一个输出装置。
用于实施本申请的方法的计算机程序可以采用一个或多个编程语言的任何组合来编写。这些计算机程序可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理器，使得计算机程序当由处理器执行时使流程图和/或框图中所规定的功能/操作被实施。计算机程序可以完全在机器上执行、部分地在机器上执行，作为独立软件包部分地在机器上执行且部分地在远程机器上执行或完全在远程机器或服务器上执行。
在本申请的上下文中，计算机可读存储介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的计算机程序。计算机可读存储介质可以包括电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。备选地，计算机可读存储介质可以是机器可读信号介质。机器可读存储介质的示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、RAM、ROM、可擦除可编程只读存储器(Erasable Programmable Read-Only Memory，EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(Compact Disc Read-Only Memory，CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。
为了提供与用户的交互，可以在电子设备上实施此处描述的系统和技术，该电子设备具有：设置为向用户显示信息的显示装置(例如，阴极射线管(Cathode Ray Tube，CRT)或者液晶显示器(Liquid Crystal Display，LCD)监视器)；以及键盘和指向装置(例如，鼠标或者轨迹球)，用户可以通过该键盘和该指向装置来将输入提供给电子设备。其它种类的装置还可以设置为提供与用户的交互；例如，提供给用户的反馈可以是任何形式的传感反馈(例如，视觉反馈、听觉反馈、或者触觉反馈)；并且可以用任何形式(包括声输入、语音输入或者、触觉输入)来接收来自用户的输入。
可以将此处描述的系统和技术实施在包括后台部件的计算系统(例如，作为数据服务器)、或者包括中间件部件的计算系统(例如，应用服务器)、或者包括前端部件的计算系统(例如，具有图形用户界面或者网络浏览器的用户计算机，用户可以通过该图形用户界面或者该网络浏览器来与此处描述的系统和技术的实施方式交互)、或者包括这种后台部件、中间件部件、或者前端部件的任何组合的计算系统中。可以通过任何形式或者介质的数字数据通信(例如，通信网络)来将系统的部件相互连接。通信网络的示例包括： 局域网(Local Area Network，LAN)、广域网(Wide Area Network，WAN)、区块链网络和互联网。
计算系统可以包括客户端和服务器。客户端和服务器一般远离彼此并且通常通过通信网络进行交互。通过在相应的计算机上运行并且彼此具有客户端-服务器关系的计算机程序来产生客户端和服务器的关系。服务器可以是云服务器，又称为云计算服务器或云主机，是云计算服务体系中的一项主机产品，以解决了传统物理主机与虚拟专用服务器(Virtual Private Server，VPS)服务中，存在的管理难度大，业务扩展性弱的缺陷。
可以使用上面所示的多种形式的流程，重新排序、增加或删除步骤。例如，本申请中记载的多个步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本申请的技术方案所期望的结果，本文在此不进行限制。

Claims (11)

  1. 一种传感器外参标定方法，包括：
    控制目标设备执行外参标定运动操作；
    确定执行外参标定运动操作时所述目标设备上不同目标传感器对应的目标传感器速度变化量；其中，不同传感器通过刚性连接搭载于所述目标设备；
    依据不同目标传感器对应的目标传感器速度变化量，对不同目标传感器进行外参标定。
  2. 根据权利要求1所述的方法，其中，所述控制目标设备执行外参标定运动操作，包括：
    控制所述目标设备沿预设形状的外参标定运动路线进行加减速移动，且使所述目标设备的速度调整的频次大于预设频次阈值；
    其中，所述速度调整包括速度大小和速度方向中的至少之一；所述加减速运动包括固定加速、固定减速、变加速以及变减速。
  3. 根据权利要求2所述的方法，其中，所述控制所述目标设备沿预设形状的外参标定运动路线进行加减速移动，包括：
    对所述目标设备的载重量进行调整，控制经载重量调整的所述目标设备沿预设形状的外参标定运动路线进行加减速移动。
  4. 根据权利要求1所述的方法，其中，所述确定执行外参标定运动操作时所述目标设备上不同目标传感器对应的目标传感器速度变化量，包括：
    针对每个目标传感器，确定在多个采集时刻所述目标设备执行外参标定运动操作时，所采集的目标传感器对应的目标传感器数据；
    依据每个目标传感器在多个采集时刻的目标传感器数据，确定所述每个目标传感器在不同目标时间间隔的目标传感器速度变化量；
    其中，每个目标时间间隔通过从多个采集时刻中选取的两个相邻采集时刻之间的时间间隔进行确定，不同目标时间间隔在时间上不重叠。
  5. 根据权利要求4所述的方法，其中，所述依据每个目标传感器在多个采集时刻的目标传感器数据，确定所述每个目标传感器在不同目标时间间隔的目标传感器速度变化量，包括：
    在所述目标传感器适用进行速度测量的情况下，从所述目标传感器在多个采集时刻的目标传感器数据中确定所述目标传感器在多个采集时刻的加速度；
    依据所述目标传感器在多个采集时刻的加速度和目标时间间隔时长，计算所述目标传感器在不同目标时间间隔的目标传感器速度变化量。
  6. 根据权利要求4所述的方法，其中，所述依据每个目标传感器在多个采集时刻的目标传感器数据，确定所述每个目标传感器在不同目标时间间隔的目标传感器速度变化量，包括：
    在所述目标传感器适用进行位置测量的情况下，从所述目标传感器在多个采集时刻的目标传感器数据中确定所述目标传感器在多个采集时刻的传感器位置；
    依据所述目标传感器在多个采集时刻的传感器位置和目标时间间隔时长，计算所述目标传感器在不同目标时间间隔的目标传感器速度变化量。
  7. 根据权利要求1所述的方法，其中，所述依据不同目标传感器对应的目标传感器速度变化量，对不同目标传感器进行外参标定，包括：
    采用待优化外参标定参数变量与相同目标时间间隔内两个目标传感器对应的目标传感器速度变化量，构建目标传感器间的速度残差；其中，所述速度残差用于描述不同传感器通过外参转换到相同坐标系下，速度变化量之间的差值；
    对不同目标时间间隔的目标传感器间的速度残差进行优化，确定待优化外参标定参数的优化值。
  8. 根据权利要求7所述的方法，其中，所述对不同目标时间间隔的目标传感器间的速度残差进行优化，包括：
    将不同目标时间间隔对应的目标传感器间的速度残差与所述目标传感器间的速度残差的转置之间相乘结果的求和作为目标函数；
    对所述目标函数进行求解，确定使所述目标函数取最小值时所述待优化外参标定参数变量的取值。
  9. 一种传感器外参标定装置，包括：
    控制模块，设置为控制目标设备执行外参标定运动操作；
    速度变化量确定模块，设置为确定执行外参标定运动操作时所述目标设备上不同目标传感器对应的目标传感器速度变化量；其中，不同传感器通过刚性连接搭载于所述目标设备；
    标定模块，设置为依据不同目标传感器对应的目标传感器速度变化量，对不同目标传感器进行外参标定。
  10. 一种电子设备，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的计算机程序，所述计算机程序被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-8中任一项所述的传感器外参标定方法。
  11. 一种计算机可读存储介质，存储有计算机程序，所述计算机程序用于使处理器执行时实现实现权利要求1-8中任一项所述的传感器外参标定方法。
PCT/CN2023/099581 2022-07-20 2023-06-12 传感器外参标定方法、装置以及电子设备 WO2024016892A1 (zh)

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