Title:
METHOD AND APPARATUS FOR CALIBRATING CAMERAS AND INERTIAL MEASUREMENT UNIT, AND COMPUTER DEVICE
Document Type and Number:
WIPO Patent Application WO/2024/066816
Kind Code:
A1
Abstract:
The present application relates to a method and apparatus for calibrating cameras and an inertial measurement unit, and a computer device, a storage medium and a computer program product. The method can be applied to application scenarios such as autonomous driving, electronic maps and online calibration of sensors. The method comprises: acquiring image sequences collected by each camera (S202); matching feature points of different images in each image sequence, so as to obtain matching feature points (S204); filtering the matching feature points, so as to obtain target feature points (S206); converting the target feature points into three-dimensional points, and determining the pose of each camera on the basis of the three-dimensional points and pixel points of the images in each image sequence, said pixel points corresponding to the three-dimensional points (S208); and optimizing parameters between an inertial measurement unit and each camera according to the pose of each camera and the pose of the inertial measurement unit (S210).
Inventors:
WANG HAICHUAN (CN)
JIAO JI (CN)
JIAO JI (CN)
Application Number:
PCT/CN2023/114477
Publication Date:
April 04, 2024
Filing Date:
August 23, 2023
Export Citation:
Assignee:
TENCENT TECH SHENZHEN CO LTD (CN)
International Classes:
G06T7/80
Domestic Patent References:
| WO2021081774A1 | 2021-05-06 | |||
| WO2021184218A1 | 2021-09-23 |
Foreign References:
| CN115272494A | 2022-11-01 | |||
| CN110044354A | 2019-07-23 | |||
| US20190204084A1 | 2019-07-04 | |||
| CN112484725A | 2021-03-12 | |||
| US20100220173A1 | 2010-09-02 |
Attorney, Agent or Firm:
ADVANCE CHINA IP LAW OFFICE (CN)
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