METHOD AND DEVICE FOR CALIBRATING EXTERNAL PARAMETERS OF VEHICLE-MOUNTED SENSOR

WIPO Patent Application WO/2019/007263

A1

Embodiments of the present invention provide a method and device for calibrating the external parameters of a vehicle-mounted sensor. The method and device can implement automatic calibration of a vehicle-mounted sensor of an automatic driving vehicle, independent of a fixed calibration field or laboratory. The method comprises: obtaining first feature point information acquired by a first vehicle-mounted sensor; determining a geographical location of the vehicle, in which the first vehicle-mounted sensor is located, in a world coordinate system; determining second feature point information within an acquisition range of the first sensor in a map database according to the geographical location of the vehicle in the world coordinate system; determining a plurality of first feature points and a plurality of second feature points according to the first feature point information and the second feature point information; determining the coordinates of the plurality of second feature points in a vehicle coordinate system according to the geographical location of the vehicle in the world coordinate system; and determining mapping parameters of the first vehicle-mounted sensor to the vehicle according to the coordinates of the plurality of first feature points and of the plurality of second feature points in the vehicle coordinate system.

ZHOU YUEYIN (CN)
CHEN QI (CN)

PCT/CN2018/093559

January 10, 2019

June 29, 2018

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HUAWEI TECH CO LTD (CN)

G06T7/80

CN107103627A	2017-08-29
CN104276102A	2015-01-14
CN106740872A	2017-05-31
EP3001137A1	2016-03-30
CN201710547094A	2017-07-06

See also references of EP 3633620A4

LONGSUN LEAD IP LTD. (CN)

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