Title:
SENSOR CALIBRATION METHOD AND APPARATUS, ELECTRONIC DEVICE, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/262160
Kind Code:
A1
Abstract:
The present disclosure relates to a sensor calibration method and apparatus, an electronic device, and a storage medium. The method comprises: collecting multiple scene images and multiple first point clouds of a target scene by means of an image sensor and a radar sensor; according to the multiple scene images, constructing a second point cloud of the target scene in a global coordinate system; according to first feature point sets of the first point clouds and a second feature point set of the second point cloud, determining a first distance error between the image sensor and the radar sensor; according to the multiple first feature point sets, determining a second distance error of the radar sensor; according to a first global position of the second feature point set in the global coordinate system, and a first image position in a scene image of a pixel point corresponding to the second feature point set, determining a reprojection error of the image sensor; and according to the first distance error, the second distance error and the reprojection error, calibrating the radar sensor and the image sensor.
More Like This:
Inventors:
LIU YUQIAN (CN)
SHEN SHUHAN (CN)
WANG BAOYU (CN)
SHEN SHUHAN (CN)
WANG BAOYU (CN)
Application Number:
PCT/CN2021/125011
Publication Date:
December 22, 2022
Filing Date:
October 20, 2021
Export Citation:
Assignee:
SHANGHAI SENSETIME LINGANG INTELLIGENT TECH CO LTD (CN)
International Classes:
G06T7/73; G01S7/497; G06T7/30; G06T7/80
Foreign References:
| CN113436270A | 2021-09-24 | |||
| US20200174107A1 | 2020-06-04 | |||
| CN112598757A | 2021-04-02 | |||
| CN108921895A | 2018-11-30 | |||
| EP2728376A1 | 2014-05-07 | |||
| US20210158079A1 | 2021-05-27 |
Attorney, Agent or Firm:
LINDA LIU & PARTNERS (CN)
Download PDF: