无目标雷达-摄像头校准通过轨道对齐
1Electrical and Electronics Engineering Department, Eskisehir Osmangazi University, Meselik, Eskisehir 26040, Turkey.
Sensors (Basel, Switzerland)
|December 31, 2025
概括
本研究介绍了一种无目标的方法来校准雷达和摄像头传感器,这对于自主导航至关重要. 它通过跟踪物体轨迹来实现精确的传感器对齐,从而实现可靠的多模式感知,无需物理标记.
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:
- 雷达和摄像头传感器之间的精确外部校准对于机器人和自主导航的多模式感知至关重要.
- 使用人工目标的传统校准方法在动态或大规模环境中往往是不切实际的.
研究的目的:
- 提出一个完全无目标的校准框架,用于估计雷达和相机坐标框架之间的刚性空间转换.
- 为了实现实际的,无标记的多传感器校准,用于现实世界的自主系统.
主要方法:
- 集成基于YOLOv5的3D对象定位与DBSCAN和RANSAC进行雷达数据处理.
- 采用一种被动时间同步技术,使用RMSE最小化来纠正时间偏移.
- 使用Kabsch和Umeyama算法计算刚性转换参数.
主要成果:
- 实现了亚度的旋转精度和十米级的翻译误差 (0.12-0.27 m).
- 尽管雷达稀疏和测量偏差,但表现出强大的对齐.
- 用无人机作为动态目标对未见的运动轨迹进行验证的概括.
结论:
- 拟议的无目标框架为雷达摄像头校准提供了一个实际的解决方案.
- 该方法适用于需要无标记多传感器校准的真实世界自主系统.
- 这些发现有助于在机器人技术中推进可靠的多模式感知.
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