基于可重构标定板的激光与视觉联合标定方法  

LiDAR-Camera Joint Calibration Method Based on Restructurable Calibration Board

作　　者：黄强[1,2] 潘常春[2] 裴凌[2] 刘海春[1,2] 李岚臻 李扬[3] 李泽亚 HUANG Qiang;PAN Chang-chun;PEI Ling;LIU Hai-chun;LI Lan-zhen;LI Yang;LI Ze-ya(School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;Key Laboratory of Navigation and Location Based Services, Shanghai Jiao Tong University, Shanghai 200240, China;Shanghai West Hongqiao Navigation Technology Co., Ltd., Shanghai 201799, China;Beijing Institute of Tracking and Telecommunications Technology, Beijing 100089, China)

机构地区：[1]上海交通大学电子信息与电气工程学院,上海200240 [2]上海交通大学北斗导航与位置服务重点实验室,上海200240 [3]上海西虹桥导航技术有限公司,上海201799 [4]北京跟踪与通信技术研究所,北京100089

出　　处：《导航定位与授时》2021年第3期27-33,共7页Navigation Positioning and Timing

基　　金：国家科技部重点研发项目(2019YFB1705800)。

摘　　要：目前,激光雷达与视觉传感器的联合标定方法包含动态在线标定与静态离线标定两大类。动态在线标定对标定的环境有较高的要求,且标定结果不稳定;静态离线标定通常采用标定板,因而对标定板的要求较高,手动选择与线拟合都易引入或放大误差,故提出了一种基于可重构标定板的激光雷达与视觉传感器的联合标定方法。首先,对传统的标定板进行拆分与重构,采用类条形码的方式自动识别激光雷达特征点,并添加相机校验机制以缓解标定过程中相机识别的不稳定性带来的误差。最后,通过与双目相机标定,采用重投影的方式对外参标定结果进行可视化主观评价与客观量化评价。实验表明,该标定方法的均方根误差(RMSE)为1.275cm,重投影后的误差为3.2个像素。The joint calibration methods of lidar and vision sensor includes two categories:dynamic online calibration and static offline calibration.Dynamic online calibration has high requirements for the calibration environment,and its results are unstable.As for static offline calibration,calibration board is a commonly used tool,in which feature points found by the ways of line fitting and manual selection are easy to cause errors and rely highly on the calibration boards.A joint calibration method of lidar and vision sensor based on a new kind of restructurable calibration board is proposed in this paper.Firstly,we split and reconstruct the traditional calibration board.Then we use barcode-like methods to recognize lidar feature points automatically.We also added the camera verification mechanism to alleviate the error caused by the instability of the camera recognition during the calibration process.Finally,in the experiment we calibrate the radar and binocular camera,and use reprojection method to verify the effectiveness of the proposed method through subjective visualization and objective quantitative indicators.The RMSE is 1.275cm in the method,and the error after reprojection is 3.2 pixels.

关 键 词：可重构标定板 激光雷达特征点自动识别 联合标定 量化评价 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]