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External parameter calibration method and system for single-line laser radar and visible light camera

A single-line laser radar and calibration method technology, which is applied in image data processing, instruments, calculations, etc., can solve the problems of low calibration accuracy of external parameters of laser radar and cameras, and achieve the effects of high efficiency, simplified calibration process, and simple operation

Pending Publication Date: 2021-12-24
CENT SOUTH UNIV +1
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Problems solved by technology

[0009] The external parameter calibration method and system of the single-line laser radar and visible light camera provided by the present invention solve the technical problem of low calibration accuracy of the existing laser radar and camera external parameters

Method used

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  • External parameter calibration method and system for single-line laser radar and visible light camera
  • External parameter calibration method and system for single-line laser radar and visible light camera
  • External parameter calibration method and system for single-line laser radar and visible light camera

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Embodiment 1

[0052] The external parameter calibration method of single-line laser radar and visible light camera provided by Embodiment 1 of the present invention includes:

[0053] Step S101, obtain multi-frame burden image data collected by visible light cameras and multi-frame point cloud data collected by single-line lidar in the same time period, and realize single-frame furnace burden image and single-frame point cloud according to the time difference threshold and point cloud data volume threshold Time matching of data;

[0054] Step S102, establishing a camera distortion model, and correcting the burden image according to the camera distortion model;

[0055] Step S103, extracting the laser scanning center line according to the corrected charge image, and determining the two-dimensional coordinates corresponding to the local extremum of the laser scanning center line in the image coordinate system;

[0056] Step S104, interpolating the sparse point cloud data according to the ste...

Embodiment 2

[0062] refer to figure 1 , figure 1 It is a schematic diagram of a particle size detection system installed on a blast furnace burden conveyor belt according to an embodiment of the present invention, including a single-line laser radar, a visible light camera, and a computer.

[0063] refer to figure 2 The method for calibrating external parameters of a single-line laser radar and a visible light camera provided in Embodiment 2 of the present invention includes the following steps:

[0064] (1) Use an industrial camera to obtain the image of the furnace charge ore on the conveyor belt, scan the surface of the furnace charge through a single-line laser radar to form point cloud data, and perform time matching between the single frame image and the single frame point cloud data according to the time constraint relationship and the number of point clouds.

[0065] (2) Establish the camera imaging model and distortion model, use the Zhang Zhengyou checkerboard calibration meth...

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Abstract

The invention discloses an external parameter calibration method and system for a single-line laser radar and a visible light camera, and the method comprises the steps: collecting time and space synchronous furnace charge image data and point cloud data, correcting a furnace charge image according to a camera distortion model, and further extracting a laser scanning center line; determining a two-dimensional coordinate corresponding to a local extreme value of a laser scanning center line in an image coordinate system, and performing interpolation on the sparse point cloud data to obtain a three-dimensional coordinate of the local extreme value of the point cloud data in a radar coordinate system; according to the feature point pairs of the two-dimensional coordinate corresponding to the local extreme value of the laser scanning center line in the image coordinate system and the three-dimensional coordinate of the local extreme value of the point cloud data in the radar coordinate system, utilizing a linear least square method to obtain an external parameter matrix of the camera and the single-line laser radar; the technical problem that the existing laser radar and camera external parameter calibration precision is low is solved, the single-line laser radar and the visible light camera can be calibrated online in real time, and the external parameter matrix is corrected.

Description

technical field [0001] The invention mainly relates to the field of particle size detection of blast furnace charge, in particular to an external parameter calibration method and system of a single-line laser radar and a visible light camera. Background technique [0002] The particle size of the blast furnace charge is a key factor affecting the air permeability of the charge layer inside the blast furnace and the gas flow distribution. On-line detection of charge particle size is of great significance for improving gas flow distribution, reducing coke ratio and improving blast furnace production efficiency. In the blast furnace charging system, single-line laser radar and visible light camera are used to detect the particle size of blast furnace charge. Through sensor data fusion, the characteristics of lidar that is not affected by light and the high resolution of visible light cameras can be used to improve the accuracy of particle size detection. [0003] Joint calibr...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/85G06T2207/10028G06T2207/10044Y02A90/10
Inventor 蒋朝辉何瑞清刘金狮余金花桂卫华张海峰
Owner CENT SOUTH UNIV
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