Title:
CALIBRATION METHOD AND DEVICE, MOVABLE PLATFORM, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2021/016854
Kind Code:
A1
Abstract:
The embodiments of the present invention provide a calibration method and device, a movable platform, and a storage medium. The method comprises: (S201) obtaining first point cloud data of surrounding environment of a movable platform collected by a laser scanning apparatus and image data collected by a camera; (S202) determining second point cloud data according to the first point cloud data, the second point cloud data being used for indicating invalid point cloud data and/or inconsecutive point cloud data; (S203) projecting the second point cloud data to a three-dimensional grid space under a camera coordinate system to obtain a projected three-dimensional space; and (S204) when each grid region in the projected three-dimensional space meets a preset condition, projecting the projected three-dimensional space onto the image data collected by the camera, and obtaining the optimal position of the projected three-dimensional space projected onto the image data. Therefore, the surrounding environment of the movable platform can be calibrated without a specific marker, and the calibration precision is improved.
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Inventors:
LI WEI (CN)
LIU TIANBO (CN)
LIU TIANBO (CN)
Application Number:
PCT/CN2019/098354
Publication Date:
February 04, 2021
Filing Date:
July 30, 2019
Export Citation:
Assignee:
SZ DJI TECHNOLOGY CO LTD (CN)
International Classes:
G06T7/70
Domestic Patent References:
| WO2019035049A1 | 2019-02-21 |
Foreign References:
| CN107564069A | 2018-01-09 | |||
| CN109300162A | 2019-02-01 | |||
| CN108406731A | 2018-08-17 | |||
| US20150310135A1 | 2015-10-29 |
Attorney, Agent or Firm:
SCIHEAD IP LAW FIRM (CN)
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