Vector-relation-based method for calibrating single-line laser radar and CCD camera

Abstract

The invention relates to a vector-relation-based method for calibrating single-line laser radar and a CCD camera. Point set information of the laser radar for scanning a V-shaped target is extracted in a laser coordinate system, and direction vectors and intersection coordinates of straight lines in two different planes of the target are obtained by means of straight line fitting; the CCD camera is used for capturing images in a camera coordinate system, target plane equations and an equation of a plane passing through an original point and laser radar scanning lines are obtained by processing image information, a straight-line equation of laser radar scanning is built, and furthermore, the direction vectors and the intersection coordinates of the straight lines are obtained; finally, calibration is finished according to the relations between direction vectors and the intersection coordinates of the straight lines corresponding to the different coordinate systems. According to the method, no object in a calibration scene needs to be moved, collection of all calibration data can be completed at a time, and calibration efficiency is improved greatly. According to the method, the direction vectors of the straight lines of the laser scanning target planes under the coordinate systems of sensors to be calibrated are obtained directly, calibration precision is guaranteed, and meanwhile the calibration algorithm is simplified.

Description

technical field [0001] The invention belongs to the field of computer vision and relates to a calibration technology between a laser radar and a camera, in particular to a calibration method based on a linear direction vector constraint relationship between sensor coordinate systems. Background technique [0002] In the field of computer vision research, CCD cameras can obtain information such as color and texture in the environment to facilitate the identification of target objects, but they cannot effectively establish accurate geometric shape information of the observed object. LiDAR can provide the geometric shape information of the measured target, but it lacks the description of the environment color and texture. Therefore, it is of great significance to study the calibration of lidar and CCD cameras and establish a sensor fusion model to realize the perception of environmental information. [0003] In the paper "Extrinsic Calibration of a Camera and Laser Range Finde...

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Problems solved by technology

[0005] Aiming at the problems of complicated calibration process and low calibration accuracy existing in the prior art, the present invention proposes a single-line lidar and CCD camera calibration method based on vector relationship, the calibration scene is shown in the attached figure 2 As shown, while ensuring the calibration accuracy, the complexity of the operation is effectively reduced, and the entire calibration process can be quickly realized

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