一种毫米波雷达和摄像头联合标定方法  

Unified calibration method for millimeter-wave radar and camera

作　　者：罗逍[1] 姚远[1] 张金换[1] 

机构地区：[1]清华大学汽车安全与节能国家重点实验室,北京100084

出　　处：《清华大学学报（自然科学版）》2014年第3期289-293,共5页Journal of Tsinghua University(Science and Technology)

摘　　要：汽车安全技术正向着统一化的方向发展,传统的汽车被动安全领域可以通过如毫米波雷达、摄像头等主动式传感器进一步提高乘员保护效果。由于被动安全技术关注的车辆前方范围比主动安全近,该文以汽车被动安全研究为出发点,为了实现对目标的准确探测和定位,提出了以车辆纵向对称平面为基准的毫米波雷达和摄像头的联合标定方法,获取了必要的标定参数,并建立了2种传感器之间的坐标转换关系。试验结果表明,使用该标定方法后毫米波雷达和摄像头对目标的测量精度较高,坐标转换后也能较好地还原目标的真实位置,可以为汽车被动安全系统提供可靠的数据。Unified automotive safety technology is the tendency of developing automotive safety technologies. The occupant protection performance of conventional automotive passive safety technology can be further improved by cooperating with active sensors such as millimeter-wave radars and cameras, The view of interest in automotive passive safety technology is nearer than that in active safety technology. A calibration method for radars and cameras was developed using vehicle longitudinal symmetry plane as a datum to more accurately detect and locate in automotive passive safety application. Calibration parameters were obtained, with the coordinate transformation relationship between the two sensors being developed. Validation tests show that the radar and the camera in this method have good measurement accuracy, and the target location can be transformed into picture coordinate accurately. This method can provide reliable data for automotive safety systems.

关 键 词：汽车安全 毫米波雷达 摄像头 标定 

分 类 号：U461.91[机械工程—车辆工程]