Calibration method and electronic equipment of camera internal reference and camera relative lidar external reference

Abstract

The invention discloses a method and an electronic device for calibrating the internal parameters of a camera and the external parameters of a camera relative to a laser radar. The method includes: obtaining several sets of calibration data, and determining the corresponding calibration data of each group according to the two-dimensional images in the several sets of calibration data. Image space coordinates; determine the camera internal parameters according to the image space coordinates and the object space coordinates corresponding to each set of calibration data measured in advance; perform distortion correction on the two-dimensional images in each set of calibration data according to the camera internal parameters, and based on the distortion corrected two-dimensional images Determine several first edge lines and several second edge lines corresponding to each set of calibration data from the 3D image and 3D laser point cloud; determine the extrinsic parameters of the camera relative to the lidar according to the number of first edge lines and several second edge lines. The present invention can simultaneously calibrate the camera internal reference and the camera relative to the laser radar external reference through one device, the calibration method saves time and effort, uses the edge line as a feature for matching, can eliminate wrong matching, and improves the calibration accuracy of the external reference.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a calibration method and electronic equipment for camera internal parameters and camera relative laser radar external parameters. Background technique [0002] With the development of mobile mapping, autonomous driving and other fields, the system consisting of rigid connection of camera and LiDAR has become a new trend. The camera can provide color semantic information and computer vision computing assistance, while the lidar can obtain accurate 3D point clouds for mapping. In order to make full use of the advantages of both, it is usually rigidly connected to measuring instruments, backpacks, and drones. , self-driving cars and other equipment for data fusion processing. In the fusion process of the camera image and the lidar point cloud, it is necessary to know the internal parameters of the camera and the external parameters of the camera relative to the lidar to uni...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a method and electronic equipment for calibrating the internal camera parameters and the external parameters of the camera relative to the laser radar in view of the above-mentioned defects of the prior art. The external parameter calibration of the radar is carried out separately, which is time-consuming and laborious, and the external parameter calibration error is large

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