Laser radar and camera synchronization method and device, equipment and storage medium

• Main Authors: DING HANG, HU XIAOBO
• Format: Patent
• Language: Chinese; English
• Published: 21.07.2020
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING

The embodiment of the invention discloses a laser radar and camera synchronization method and device, equipment and a storage medium. The laser radar and camera synchronization method comprises the steps of obtaining a scanning angle and a timestamp of the scanning angle in a real-time scanning process of a laser radar; determining triggering angles of at least two cameras according to the timestamp, the attribute information of the laser radar, the attribute information of the at least two cameras and the joint calibration information of the laser radar and the at least two cameras; and determining a target camera to be synchronized with the laser radar from the at least two cameras according to the scanning angle and the triggering angle, so as to trigger the target camera at the triggering angle to start to execute the operation of acquiring image data, thereby enabling the target camera to synchronously acquire the image data when the laser radar scans to the installation angle ofthe target camera. The sy