Radar and visual inspection online joint calibration method

• Main Authors: KE WENXIONG, CHEN QIAN, XI GUANGRONG, LI XIAOLIU, FU CHAOWEI, WEI WEIWEI, YIN JIEJUN
• Format: Patent
• Language: Chinese; English
• Published: 31.10.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CALCULATING; COMPUTING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention discloses a radar and visual detection online joint calibration method, which comprises the following steps: S1, detecting a vehicle target in a video image, constructing a 3D bounding box, and extracting a first vanishing point and a second vanishing point after obtaining target trajectory information; s2, mapping image pixel points to a world coordinate system according to an external reference matrix of the camera to the world coordinate system; s3, based on the world coordinate system target data and the millimeter-wave radar target data, using an ellipse correlation gate and a KNN algorithm to find a matching point of a millimeter-wave radar target and a visual target; s4, on the basis of the matching points of the millimeter-wave radar target and the visual target, optimizing external parameters of the camera relative to the radar by adopting a PnP principle and a minimized re-projection error; according to the method, the conversion relation between the image coordinate system and the mil