Joint calibration method and device, electronic equipment and storage medium

Abstract

According to the joint calibration method and device, the electronic equipment and the storage medium provided by the invention, the method includes: acquiring the point cloud data and the image dataacquired by the laser radar and the camera for the same target acquisition area, wherein the target acquisition area is internally provided with the target object capable of being used for calibration, and the target object comprises at least one corner point; determining a two-dimensional image coordinate and a three-dimensional point cloud coordinate of each corner point in the image data and the point cloud data respectively; according to the two-dimensional image coordinates and the three-dimensional point cloud coordinates of the same angular point, performing calculating to respectivelyobtain external parameters of the laser radar and the camera; performing joint calibration on the laser radar and the external parameters according to the external parameters of the laser radar and the camera. Therefore, the calibration of the laser radar and the camera is not carried out by using a calibration plate; insteadly, the point cloud data and the image data acquired by the laser radar and the camera aiming at the target object in the same target acquisition area are directly calibrated, so that the calibration efficiency is improved, the calibration process is simplified, and repeated calibration of the laser radar and the camera is facilitated.

Description

technical field [0001] Embodiments of the present disclosure relate to the data field, and in particular, to a joint calibration method, device, electronic equipment, and storage medium. Background technique [0002] With the development of intelligent transportation technology, basic traffic information is obtained through sensor collection. Among them, there are generally many kinds of sensors used to obtain basic traffic information, including sensors such as laser radar, camera, radar, and GPS. The fusion of information collected by multiple sensors can give full play to the advantages of various types of sensors. In this process, the joint calibration of sensors has become an important issue. [0003] In the prior art, in order to realize the calibration of different types of sensors, especially for the joint calibration of the lidar and the camera, the calibration work is generally performed by using calibration boards respectively. Specifically, by setting a black an...

AI Technical Summary

Problems solved by technology

[0004] However, due to the use of calibration boards in this method, the calibration process is cumbersome and the calibration workload is large

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