计量学报2024，Vol.45Issue(5)：631-638,8.DOI:10.3969/j.issn.1000-1158.2024.05.04
基于3D毫米波雷达与相机的改进联合标定方法
Improved Method of Joint Calibration Based on 3D Millimeter Wave Radar and Camera
摘要
Abstract
Traditional camera and millimeter-wave radar joint calibration methods have the problem of cumbersome data collection as they can only calibrate on a fixed plane.A fast calibration improvement method applicable to three-dimensional space is proposed based on the traditional methods.Firstly,radar and image preprocessing are performed.Secondly,a time synchronization strategy is used to collect and match a large amount of data within a short period.Then,the random sample consensus algorithm(RANSAC)is used in spatial calibration to reduce the interference of outliers and achieve preliminary coarse calibration.Finally,the Levenberg-Marquardt(LM)algorithm is used to refine the coarse calibration results for precise calibration iteratively.Experimental results show that the improved calibration method converges to an overall root mean square error of about 10 pixels,significantly improving the calibration accuracy compared to traditional joint calibration algorithms,and the calibration process takes about 12 minutes to complete.关键词
机器视觉/时空标定/3D毫米波雷达/随机采样一致性/联合标定Key words
machine vision/spatiotemporal calibration/3D millimeter wave radar/RANSAC/joint calibration分类
通用工业技术引用本文复制引用
邵剑浩,张远辉,陈科峰,刘康..基于3D毫米波雷达与相机的改进联合标定方法[J].计量学报,2024,45(5):631-638,8.基金项目
浙江省自然科学基金(LY19F010007) （LY19F010007）
