公开(公告)号：US20230251363A1

公开(公告)日：2023-08-10

申请号：US18296382

申请日：2023-04-06

Applicant: NANJING UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Dexin REN ,  Mingwu REN

IPC: G01S7/497 ,  G01S17/86 ,  G06T7/80 ,  G06T7/33

CPC classification number: G01S7/497 ,  G01S17/86 ,  G06T7/80 ,  G06T7/33 ,  G06T2207/10028 ,  G06T2207/20164 ,  G06T2207/30244

Abstract: The disclosure is a three-dimensional towered checkerboard for multi-sensor calibration, and a LiDAR and camera joint calibration method based on the checkerboard. The joint calibration method includes: establishing a modeling coordinate system taking the three-dimensional towered checkerboard as a basis, and generating a point cloud of the three-dimensional towered checkerboard; denoising a three-dimensional point cloud obtained by LiDAR, and obtaining an actual point cloud of the three-dimensional towered checkerboard under a LiDAR coordinate system; determining a transformation relationship between the LiDAR coordinate system and the modeling coordinate system; generating a corner point set of two-dimensional checkerboards under the modeling coordinate system in sequence according to actual positions of corners of the two-dimensional checkerboards, and transforming into the LiDAR coordinate system; obtaining a corner point set of the two-dimensional checkerboards on a photo; and calculating a transformation relationship between the camera coordinate system and the LiDAR coordinate system.

公开(公告)号：US20240134024A1

公开(公告)日：2024-04-25

申请号：US18403731

申请日：2024-01-04

Applicant: NANJING UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Mingwu REN ,  Dexin REN

IPC: G01S7/497 ,  G01S17/86 ,  G06T7/33 ,  G06T7/80

CPC classification number: G01S7/497 ,  G01S17/86 ,  G06T7/33 ,  G06T7/80 ,  G06T2207/10028 ,  G06T2207/20164 ,  G06T2207/30244

Abstract: The disclosure is a three-dimensional towered checkerboard for multi-sensor calibration, and a LiDAR and camera joint calibration method based on the checkerboard. The joint calibration method includes: establishing a modeling coordinate system taking the three-dimensional towered checkerboard as a basis, and generating a point cloud of the three-dimensional towered checkerboard; denoising a three-dimensional point cloud obtained by LiDAR, and obtaining an actual point cloud of the three-dimensional towered checkerboard under a LiDAR coordinate system; determining a transformation relationship between the LiDAR coordinate system and the modeling coordinate system; generating a corner point set of two-dimensional checkerboards under the modeling coordinate system in sequence according to actual positions of corners of the two-dimensional checkerboards, and transforming into the LiDAR coordinate system; obtaining a corner point set of the two-dimensional checkerboards on a photo; and calculating a transformation relationship between the camera coordinate system and the LiDAR coordinate system.