Method, apparatus, device and medium for calibrating pose relationship between vehicle sensor and vehicle
US11157766B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 9, 2019 |
| Grant date | Oct 26, 2021 |
| Priority date | — |
| Expiry date | Feb 9, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method, apparatus, device, and medium for calibrating a pose relationship between a vehicle sensor and a vehicle are provided. The method includes: acquiring, by a field-end sensor mounted in a side edge area of the calibration environment, a first image of the calibration environment, and acquiring a second image of the calibration environment by a vehicle sensor, different identifier units being laid on a spatial plane of the calibration environment; determining a first pose transformation relationship between a vehicle coordinate system and a world coordinate system based on the first image; determining a second pose transformation relationship between a vehicle sensor coordinate system and the world coordinate system based on the second image; and calibrating the pose relationship between the vehicle sensor and the vehicle using the above determined pose transformation relationships.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.