Calibration device and radar and camera combined calibration method and system
What is Al technical title?
Al technical title is built by PatSnap Al team. It summarizes the technical point description of the patent document.
A calibration device and joint calibration technology, applied in the field of calibration, can solve the problems of ignoring angle deviation, etc., and achieve the effects of simple device, accurate calibration effect and simple method
Active Publication Date: 2019-10-08
XIAMEN KING LONG UNITED AUTOMOTIVE IND CO LTD
View PDF8 Cites 12 Cited by
Summary
Abstract
Description
Claims
Application Information
AI Technical Summary
This helps you quickly interpret patents by identifying the three key elements:
Problems solved by technology
Method used
Benefits of technology
Problems solved by technology
At present, there are few related studies on the joint calibration of binocular cameras and millimeter-wave radars at home and abroad. In the existing technology, the external parameters between the millimeter-wave radar and the camera are usually obtained by directly measuring the displacement deviation, and the angle deviation is generally ignored.
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more
Image
Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
Click on the blue label to locate the original text in one second.
Reading with bidirectional positioning of images and text.
Smart Image
Examples
Experimental program
Comparison scheme
Effect test
Embodiment 1
[0042] refer to figure 1 As shown, the present invention provides a radar and camera joint calibration method, comprising the following steps:
[0043] Step 1: Set up the calibration device.
[0044] The calibration device includes a bracket 1, an inner frame 2 mounted on the bracket 1 and capable of rotating around the vertical direction, a metal plate 4 fixedly mounted on the inner frame 2, and a metal plate 4 that rotates in a direction perpendicular to the direction of rotation of the inner frame 2. black and white grid board 3.
[0045] Since millimeter-wave radar has different reflectivity to metal and non-metal, in order to better extract the data of the metal plate 4 area from the collected radar data, therefore, in this embodiment, the metal plate 4 and the metal plate 4 are The other parts of the calibration device are made of different materials, that is, the metal plate 4 is made of metal, and other parts of the calibration device except the metal plate 4 are mad...
Embodiment 2
[0101] The present invention also provides a radar and camera joint calibration system, including the calibration device, camera, radar, and processing terminal as described in Embodiment 1, the processing terminal includes a memory, a processor and a bus, and the memory stores at least A program, the system implements the radar and camera joint calibration method as described in Embodiment 1 of the present invention.
[0102] The processor includes one or more processing cores, the processor is connected to the memory through the bus, the memory is used to store program instructions, and the processor implements the joint calibration of the radar and the camera described in Embodiment 1 of the present invention when executing the program instructions in the memory method.
[0103] Further, as an executable solution, the so-called processor can be a central processing unit (Central Processing Unit, CPU), and can also be other general-purpose processors, digital signal processo...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more
PUM
Login to view more
Abstract
The invention relates to a calibration device and a radar and camera combined calibration method and system, and the method comprises the steps: S1, providing a calibration device which comprises a camera calibration plate and a radar calibration plate, and enabling the calibration device to be located at a calibration position; S2, collecting pictures of the calibration device in different statesthrough a camera; meanwhile, through the radar detection calibration device, locating the camera calibration plate and the radar calibration plate in the same plane and jointly rotate by different angles around the first rotating shaft and rotate by different angles around the second rotating shaft; and S3, calculating calibration data according to the radar detection data corresponding to the time when the camera collects the picture, and outputting the calibration data, with the calibration data comprising a yaw angle, a pitch angle and a translation vector between the radar and the camera.According to the invention, the deviation of the installation angle is considered, so that the unification of the information obtained by the radar and the camera can be ensured and more accurate obstacle identification and tracking can be realized.
Description
technical field [0001] The present invention relates to the technical field of calibration, in particular to a calibration device, a radar and camera joint calibration method and system. Background technique [0002] Sensor fusion is a trend in the development of automobile safety. The combined use of cameras and radars can synthesize the characteristics of visual sensors and ranging sensors, learn from each other, and improve the overall perception and safety performance of automobiles. Specifically, for example, vehicle forward collision warning. [0003] In the multi-sensor perception system, to realize the information fusion of each sensor, a unified coordinate system is required, and the joint calibration of the external parameters of the camera and the millimeter-wave radar directly affects the accuracy of vehicle obstacle detection. At present, there are few related studies on the joint calibration of binocular cameras and millimeter-wave radars at home and abroad. I...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more
Application Information
Patent Timeline
Application Date:The date an application was filed.
Publication Date:The date a patent or application was officially published.
First Publication Date:The earliest publication date of a patent with the same application number.
Issue Date:Publication date of the patent grant document.
PCT Entry Date:The Entry date of PCT National Phase.
Estimated Expiry Date:The statutory expiry date of a patent right according to the Patent Law, and it is the longest term of protection that the patent right can achieve without the termination of the patent right due to other reasons(Term extension factor has been taken into account ).
Invalid Date:Actual expiry date is based on effective date or publication date of legal transaction data of invalid patent.
Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G01S7/40
CPCG01S7/40G06T7/80
Inventor 蔡樱贤李理欧敏辉柯志达陈卫强苏亮
Owner XIAMEN KING LONG UNITED AUTOMOTIVE IND CO LTD
Login to view more 
Login to view more