The present invention relates to an apparatus for autonomous driving, and a method and system for calibrating a sensor thereof. In accordance with an embodiment of the present invention, the apparatus for autonomous driving comprises: a communication circuit which is able to communicate with an unmanned flight vehicle with a checkerboard fixed; a plurality of sensors placed on an autonomous driving vehicle for detecting all the directions of the autonomous driving vehicle; and a processor. The processor is able to control the relative position of the unmanned flight vehicle through the communication circuit, control the unmanned flight vehicle to hover at each of a plurality of waypoints of a designated flight path, change a posture angle of the checkerboard at each of the waypoints into a plurality of posture angles in accordance with a flight path through the unmanned flight vehicle, generate a plurality of images including the checkerboard respectively corresponding to the plurality of waypoints and the plurality of posture angles through the plurality of sensors, and calibrate the plurality of sensors based on the relations between matching points on the plurality of images. The present invention aims to provide an apparatus for autonomous driving, and a method and system for calibrating a sensor thereof, which are able to easily calibrate the sensors.
본 문서에 개시되는 일 실시 예에 따른 자율 주행 장치는, 체커 보드(checker board)가 고정된 무인 비행체와 통신할 수 있는 통신 회로; 상기 자율 주행 자동차의 전방위를 감지할 수 있도록 상기 자율 주행 자동차에 배치된 복수의 센서들; 및 프로세서를 포함하고, 상기 프로세서는, 상기 통신 회로를 통해 상기 무인 비행체의 상대적 위치를 제어함에 따라 상기 무인 비행체를 지정된 비행 경로의 복수의 웨이포인트들(waypoints) 각각에서 호버링하도록 제어하고, 상기 무인 비행체를 통해 각 웨이포인트들에서 상기 체커 보드의 자세 각도를 상기 비행 경로에 따른 복수의 자세 각도들로 변화시키고, 상기 복수의 센서들을 통해 상기 복수의 웨이포인트들 및 복수의 자세 각도들에 각기 대응하는 상기 체커 보드를 포함하는 복수의 영상들을 생성하고, 상기 복수의 영상들의 매칭점들 간의 관계에 기반하여 상기 복수의 센서들을 캘리브레이션(calibration)할 수 있다.
Apparatus for Autonomous Driving and Method and System for calibrating Sensor thereof
자율 주행 장치, 센서 캘리브레이션 시스템 및 방법
16.06.2021
Patent
Elektronische Ressource
Koreanisch
IPC: | 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 / B64C AEROPLANES , Flugzeuge / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT |
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