基于单应性变换的可见光与毫米波雷达数据标定方法  

Calibration Method of Millimeter Wave Radar and Visible Light Sensor Based on Homography Transformation

作　　者：卢锋 陈震[1] 张聪炫[1] 葛利跃 张陀 LU Feng;CHEN Zhen;ZHANG Cong-xuan;GE Li-yue;ZAHNG Tuo(School of Measuring and Optical Engineering,Nanchang Hangkong University,Nanchang 330063,China;School of Information Engineering,Nanchang Hangkong University,Nanchang 330063,China;Chinese People’s Liberation Army No.5719 Factory,Chengdu 610000,China)

机构地区：[1]南昌航空大学测试与光电工程学院,南昌330063 [2]南昌航空大学信息工程学院,南昌330063 [3]中国人民解放军第五七一九工厂,成都610000

出　　处：《南昌航空大学学报（自然科学版）》2021年第2期1-5,13,共6页Journal of Nanchang Hangkong University(Natural Sciences)

基　　金：国家自然科学基金(61866026,61772255,61866025);江西省优势科技创新团队(20165BCB19007);江西省杰出青年人才计划(20192BCB23011);江西省自然科学基金重点项目(20202ACB214007);航空科学基金(2018ZC56008);南昌航空大学研究生创新基金(YC2019042)资助。

摘　　要：针对现有的传感器标定方法存在操作步骤繁琐、标定精度低等问题,本文基于雷达扫描平面与地面平行的特点,利用雷达扫描平面和可见光图像平面之间的单应性变换关系,提出了一种基于单应性变换的毫米波雷达与可见光传感器标定方法。首先,在标定场中放置六块金属面板,同时获取标定场中金属面板的毫米波雷达数据与可见光图像,基于点对齐方法获取六组毫米波雷达与可见光对齐目标点集;然后,采用线性最小二乘法计算出雷达扫描平面坐标系与可见光图像平面坐标系之间转换的单应性矩阵;最后,利用单应性矩阵将毫米波雷达目标投射到可见光图像上,完成毫米波雷达与可见光传感器的数据标定。实验结果,验证了本文算法的可行性,能够准确的计算出标定矩阵并稳定的将雷达目标数据标定到可见光图像上,有效提高传感器标定的效率与精度。Aiming at the problems of cumbersome operation steps and low calibration accuracy in the existing sensor calibration methods,based on the parallel characteristics of the radar scanning plane and the ground,this paper uses the homography transformation relationship between the radar scanning plane and the visible light image plane to propose a calibration method of millimeter wave radar and visible light sensor based on homography transformation.First,six metal panels are placed in the calibration field,and the millimeter wave radar data and visible light images of the metal panels in the calibration field are acquired at the same time.Based on the point alignment method,six sets of millimeter wave radar and visible light aligned target point sets are obtained.Then,the linear least square method is used to calculate the homography matrix of the conversion between the radar scanning plane coordinate system and the visible light image plane coordinate system.Finally,the homography matrix is used to project the millimeter wave radar target onto the visible light image to complete the millimeter wave radar and the visible light sensor Data calibration.The experimental results verify the feasibility of the algorithm in this paper,which can accurately calculate the calibration matrix and steadily calibrate the radar target data to the visible light image,effectively improving the efficiency and accuracy of sensor calibration.

关 键 词：传感器标定 毫米波雷达 可见光传感器 单应性变换 

分 类 号：U458[建筑科学—桥梁与隧道工程]