中国科学院行为科学重点实验室知识库

针对由摄像机和3D激光雷达组成的无人车平台的外部标定问题,提出一种3D激光雷达和摄像机的联合标定方法。通过激光雷达在地面上的扫描信息,获取激光雷达安装的俯仰角和安装高度;利用黑白棋盘格标定板获取摄像机相对车体的姿态外参数;最后综合激光雷达和摄像机的标定结果,对激光雷达、摄像头、车体进行联合标定。该方法只要让标定板放置于车体正前方,采集一次数据就能满足整个标定过程,实现两种类型传感器的联合标定。实验结果表明该方法有较好的标定效果。

In allusion to the problem of external calibration of unmanned vehicle platform composed of camera and 3D LIDAR, a joint calibration method of 3D LIDAR (light detection and ranging, LIDAR) and camera is proposed. The pitch angle and installation height of the LIDAR are obtained from the scanning information on ground scanned by L1DAR，and the external attitude parameters of the camera relative to the vehicle are obtained by using the black and white checkerboard calibration board. Finally, LIDAR, camera and vehicle are calibrated jointly by integrating the calibration results of L1DAR and camera. In this method，as long as the calibration board is placed in front of the vehicle body，data collected once can satisfy the whole calibration process and realize the joint calibration of two types of sensors. The experimental results show that the method has better calihration effect.

国家自然科学基金(61471046);国家自然科学基金(61772511);; 北京市教委市属高校创新能力提升计划项目(TJSHG201510772017)~~