无目标雷达摄像头使用轨道对轨道关联校准外部参数.
Xinyu Liu1,2, Zhenmiao Deng1,2, Gui Zhang3
1School of Electronics and Communication Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, China.
Sensors (Basel, Switzerland)
|February 13, 2025
概括
这项研究引入了一种新的轨道关联算法,用于毫米波雷达和摄像机的无目标校准. 该方法精确地对准了雷达和图像数据,改善了自主系统的传感器融合.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 计算机视觉 计算机视觉
- 传感器融合式传感器
背景情况:
- 校准毫米波雷达和摄像机由于雷达数据稀少而具有挑战性.
- 在雷达点云和图像之间提取相应的环境特征是困难的.
研究的目的:
- 为异质传感器 (毫米波雷达和摄像机) 提出无目标校准方法.
- 为了实现雷达和摄像机之间的精确外在参数估计.
主要方法:
- 开发了一种用于异质传感器的轨道关联算法.
- 使用轨道关联,提取了雷达和图像坐标系统之间的相应点.
- 应用视角-n-点 (PnP) 和非线性优化用于外部参数计算.
主要成果:
- 在户外实验中实现了96.43%的轨道关联准确度.
- 报告了2.6649像素 (室外) 和3.1613像素 (CARRADA数据集) 的平均再投影错误.
- 在CARRADA数据集中证明了低平均旋转 (0.8141°) 和转换 (0.0754 m) 错误.
结论:
- 拟议的算法可以有效地对雷达摄像头系统进行无目标校准.
- 该方法在存在噪音的情况下显示出稳定性.
- 准确的外部参数估计对于自主应用中可靠的传感器融合至关重要.
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