Title:
ONLINE CALIBRATION METHOD BASED ON LASER AND VISUAL FUSION
Document Type and Number:
WIPO Patent Application WO/2022/170847
Kind Code:
A1
Abstract:
An online calibration method based on laser and visual fusion, a computer-readable storage medium, and a computer device. The method comprises: in a laser-based SLAM system coordinate system, obtaining position information and orientation information of a moving target by means of laser-based localization (S110); in a visual SLAM system coordinate system, initializing the position information and the orientation information according to the position information and orientation information output by means of laser-based localization, updating the position information by detecting the moving target by means of visual localization, and acquiring, according to the time stamp of the laser-based localization, the orientation information determined by means of the visual localization (S120); inputting the orientation information in the visual SLAM system coordinate system into a neural network model for transformation to obtain predicted orientation information in the laser-based SLAM system coordinate system (S130); and by comparing the predicted orientation information with the orientation information in the laser-based SLAM system coordinate system, guiding to perform laser-based re-localization (S140). According to the method, calibration plate and manual intervention are not required in a localization process, and when an abnormality occurs, automatic guiding can be performed to perform re-localization, thereby improving accuracy.
Inventors:
OU YONGSHENG (CN)
CHEN KAI (CN)
JIANG GUOLAI (CN)
MA XINBO (CN)
LIU CHAO (CN)
WANG ZHIYANG (CN)
XIONG RONG (CN)
FENG WEI (CN)
CHEN KAI (CN)
JIANG GUOLAI (CN)
MA XINBO (CN)
LIU CHAO (CN)
WANG ZHIYANG (CN)
XIONG RONG (CN)
FENG WEI (CN)
Application Number:
PCT/CN2021/138061
Publication Date:
August 18, 2022
Filing Date:
December 14, 2021
Export Citation:
Assignee:
SHENZHEN INST OF ADV TECH CAS (CN)
International Classes:
G01C25/00; G01S7/497
Foreign References:
| CN112964276A | 2021-06-15 | |||
| CN111521195A | 2020-08-11 | |||
| CN111965624A | 2020-11-20 | |||
| CN112258600A | 2021-01-22 | |||
| CN109633664A | 2019-04-16 | |||
| CN107869989A | 2018-04-03 | |||
| US10859684B1 | 2020-12-08 |
Attorney, Agent or Firm:
BEIJING ZHONG XUN TONG DA INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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