Three-dimensional towered checkerboard for multi-sensor calibration, and LiDAR and camera joint calibration method based on the checkerboard

A LiDAR and camera joint calibration method based on a three-dimensional towered checkerboard, wherein the method is based on the three-dimensional towered checkerboard, the three-dimensional towered checkerboard is a multilayer structure formed by stacking a plurality of cubes, and an orientation of each of the cubes are the same;

• planes, having a uniform orientation, of the cubes on each of layers are provided with two-dimensional checkerboards;
• an edge length of the two-dimensional checkerboards is less than an edge length of the cubes;
• and
• the method comprises:
• establishing a modeling coordinate system taking the three-dimensional towered checkerboard as a basis, and generating a simulated point cloud of the three-dimensional towered checkerboard;
• denoising a three-dimensional point cloud obtained by LiDAR, and obtaining an actual point cloud of the three-dimensional towered checkerboard under a LiDAR coordinate system;
• determining a transformation relationship between the LiDAR coordinate system and the modeling coordinate system according to the simulated point cloud and the actual point cloud;
• generating a corner point set in sequence according to actual positions of corners of the two-dimensional checkerboards on the three-dimensional towered checkerboard in the modeling coordinate system;
• transforming the corner point set into the LiDAR coordinate system according to the transformation relationship between the LiDAR coordinate system and the modeling coordinate system;
• searching for the corners of the two-dimensional checkerboards by using a photo of the three-dimensional towered checkerboard captured by a camera, and obtaining the corner point set of the two-dimensional checkerboards on the photo;
• and
• determining a transformation relationship between a camera coordinate system and the LiDAR coordinate system according to the corner point set under the LiDAR coordinate system and the corner point set under the two-dimensional checkerboard;
• the transformation relationship between the camera coordinate system and the LiDAR coordinate system being a joint calibration result.