Radar and visual inspection online joint calibration method

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 traje...

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Bibliographic Details
Main Authors KE WENXIONG, CHEN QIAN, XI GUANGRONG, LI XIAOLIU, FU CHAOWEI, WEI WEIWEI, YIN JIEJUN
Format Patent
LanguageChinese
English
Published 31.10.2023
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Summary: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
Bibliography:Application Number: CN202310836833