一种雷达和摄像机的空间标定方法  

A Method of Spatial Calibration for Camera and Radar

作　　者：王飞[1] 段建民[1] 高德芝[1] 郑榜贵[1] 

机构地区：[1]北京工业大学智能测控研究室,北京100124

出　　处：《计算机测量与控制》2012年第2期454-456,463,共4页Computer Measurement &Control

基　　金：北京市教委重点项目;北京市自然科学基金项目资助(KZ20041000501);博士科研启动基金项目(X0002011201103)

摘　　要：多传感器融合技术已经广泛应用在智能汽车环境感知领域中;雷达和摄像机的空间标定是伴随信息实时融合的道路检测技术的基础;结合智能汽车的实际应用,提出了针对激光雷达和摄像机的空间标定方法;通过特制的标定板来获得雷达数据和图像数据,选取激光雷达坐标系作为世界坐标系,通过参数拟合的方法来求取图像坐标系与雷达坐标系的变换关系,进而实现两种传感器的空间配准;该方法只需要标定板就能够完成激光雷达和摄像机的空间标定,标定精度高,实现了多个传感器世界坐标系的统一,避免了后续处理中数据解释的二义性;实验结果表明这种方法简单准确,满足系统要求。The technique of multi-sensor fusion has already been used widely in intelligent vehicle environment perception.The spatial calibration of the radar and camera is the basis for road detection with information fusion real-timely.So,a method of spatial calibration of radar and the camera has been proposed to implement the spatial calibration of the two sensors.The laser radar coordinate system is selected as the world coordinate system.Through a special calibration board to obtain radar data and image data,the transform relationship between the image coordination system and radar coordination system can be got by fitting the data set.This method realizes the calibration between the radar and the camera through the calibration broad with high precision.This can uniform the multiple external coordinates,and avoids the illegibility in the following work..Experiment results indicate that this method is simple and easy to realize,which has the high accuracy that satisfy requirement of the system.

关 键 词：摄像机 激光雷达 多传感器数据融合 空间标定 

分 类 号：TN919[电子电信—通信与信息系统]