The embodiment of the invention provides an intersection multi-sensor fusion calibration method, system and device and a storage medium, and relates to the technical field of intelligent traffic. The method comprises the following steps: carrying out plane modeling on a traffic intersection to obtain a plane figure, and carrying out geographic information modeling on the plane figure; calibrating a camera image used for sensing a traffic target in a traffic intersection, and performing perspective mapping on the camera image to a plane image; and endowing a coordinate system of a radar for sensing a traffic target in the traffic intersection to the actual longitude and latitude coordinate system, and further fusing the sensing target of the radar and the sensing target of the camera image in the plane image so as to complete fusion calibration of the traffic intersection. According to the intersection multi-sensor fusion calibration method, in the calibration process, the content related to intersection field operation is simple, the safety is high, and the efficiency is high; in addition, radar calibration and camera calibration are completed by adopting the same coordinate system, and then thunder fitting is performed subsequently, so that the error is small and the efficiency is high.

    本申请实施例提供一种路口多传感器融合标定方法、系统、设备及存储介质,涉及智慧交通技术领域。该方法对交通路口进行平面建模获取平面图形,并对平面图像进行地理信息建模;对交通路口中用于感知交通目标的摄像头图像进行标定,将摄像头图像透视映射至平面图像中;将交通路口中用于感知交通目标的雷达的坐标系赋予实际经纬度坐标系,并进一步在平面图像中将雷达的感知目标与摄像头图像的感知目标进行融合,以完成对交通路口的融合标定。本申请的路口多传感器融合标定方法在标定过程中,涉及到在路口现场作业的内容简单,安全性高且效率高;此外,雷达和摄像头标定均采用同一坐标系完成,后续再进行雷视拟合,误差小且效率高。


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    Title :

    Intersection multi-sensor fusion calibration method, system and device and storage medium


    Additional title:

    一种路口多传感器融合标定方法、系统、设备及存储介质


    Contributors:
    FENG JIANSHUAI (author) / HE YAN (author) / PENG CHUANG (author) / ZHAO YONG (author)

    Publication date :

    2024-07-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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