To provide a method and an apparatus for determining a relative pose between a millimeter-wave radar sensor and a first sensor, a device and a medium.SOLUTION: A method comprises the steps of: obtaining millimeter-wave data for obstacles in a scene collected by a millimeter-wave radar sensor in a vehicle and first data for the obstacles in the scene collected by a first sensor in the vehicle, wherein at least one millimeter-wave radar signal booster is disposed in the scene as a target obstacle; determining first obstacle data for the target obstacle in a millimeter-wave radar coordinate system and second obstacle data for the target obstacle in a first sensor coordinate system according to the millimeter-wave data and the first data for the obstacles in the scene; and determining a relative pose between the millimeter-wave radar sensor and the first sensor according to the first obstacle data and the second obstacle data.SELECTED DRAWING: Figure 1

    【課題】相対的位置姿勢の決定方法、装置、機器及び媒体は、ミリ波レーダセンサと第1センサとの相対的位置姿勢の決定を実現する。【解決手段】車両におけるミリ波レーダセンサ及び第1センサによってそれぞれ収集されたシーンにおける障害物のミリ波データ及び第1データを取得するステップであって、シーンに少なくとも一つのミリ波レーダ信号ブースターが目標障害物として設置されるステップと、シーンにおける障害物のミリ波データ及び第1データに基づいて各目標障害物のミリ波レーダ座標系における第1障害物データ、及び目標障害物の第1センサ座標系における第2障害物データをそれぞれ決定するステップと、第1障害物データと第2障害物データとに基づいて、ミリ波レーダセンサと第1センサとの相対的位置姿勢を決定するステップと、を含む。【選択図】図1


    Access

    Download


    Export, share and cite



    Title :

    METHOD AND APPARATUS FOR DETERMINING RELATIVE POSE, DEVICE AND MEDIUM


    Additional title:

    相対的位置姿勢の決定方法、装置、機器及び媒体


    Contributors:
    ZHOU XUN (author) / XIE YUANFAN (author) / LI SHIRUI (author) / WANG LIANG (author)

    Publication date :

    2020-05-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



    METHOD FOR CALIBRATING RELATIVE POSE, DEVICE FOR CALIBRATING RELATIVE POSE, APPARATUS, AND MEDIUM

    ZHOU XUN / XIE YUANFAN / LI SHIRUI et al. | European Patent Office | 2020

    Free access

    RELATIVE POSE CALIBRATION METHOD AND RELATED APPARATUS

    LIU HUI / CHEN YILUN / CHEN TONGQING | European Patent Office | 2021

    Free access

    RELATIVE POSITION DETERMINING DEVICE, RELATIVE POSITION DETERMINING METHOD, AND RELATIVE POSITION DETERMINING PROGRAM

    ADACHI YOSHIAKI / HAMADA YUJI / TAKEHARA TAKAYOSHI | European Patent Office | 2022

    Free access

    RELATIVE POSITION DETERMINING DEVICE, RELATIVE POSITION DETERMINING METHOD, AND RELATIVE POSITION DETERMINING PROGRAM

    ADACHI YOSHIAKI / HAMADA YUJI / TAKEHARA TAKAYOSHI | European Patent Office | 2020

    Free access

    Method and Device for Determining Pose Data Relating to the Pose of a Vehicle

    LIEBNER MARTIN / PANNEN DAVID | European Patent Office | 2025

    Free access