A sensor alignment method includes: detecting objects within a first sensor field of view and a second sensor field of view; detecting a plurality of depth point clouds of the first field of view in response to the object being stationary, the host vehicle being stationary, and the distance between the object and the host vehicle being less than a threshold distance; aggregating the plurality of depth point clouds into an aggregated depth point cloud; detecting a first position of an edge of the object in response to the aggregated depth point cloud; detecting a second position of the edge of the object on the image using an edge detection algorithm; in response to a difference between the first position and the second position, an alignment of the lidar to the camera is generated.
一种传感器对准方法,包括:检测第一传感器视场和第二传感器视场内的物体;响应于物体静止、主车辆静止以及物体和主车辆之间的距离小于阈值距离,检测第一视场的多个深度点云;将多个深度点云聚集成聚集的深度点云;响应于聚集的深度点云检测物体的边缘的第一位置;在图像上使用边缘检测算法检测物体的边缘的第二位置;响应于第一位置和第二位置之间的差异,生成激光雷达到相机的对准。
Robust lidar to camera sensor alignment
稳健的激光雷达到相机传感器对准
20.09.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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