Sensor calibration method and device, computer device, medium, and vehicle
AssigneeBaidu Online Network Technology (Beijing) Co., Ltd.
InventorsShirui LI, Yuanfan XIE, Xun ZHOU, Liang WANG
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Abstract
Embodiments of the present disclosure provide a sensor calibration method, a sensor calibration device, a computer device, a storage medium, and a vehicle. The method includes: detecting surrounding objects in a travelling process of a vehicle; recognizing a static object from the surrounding objects; performing feature extraction on the static object by a camera and a lidar, respectively; and calibrating an extrinsic parameter of the camera and the lidar based on the extracted feature.
Claims18
A sensor calibration method, comprising:
- detecting surrounding objects in a travelling process of a vehicle;
- recognizing a static object from the surrounding objects;
- performing feature extraction on the static object by a camera and a lidar, respectively;
- and
- calibrating an extrinsic parameter of the camera and the lidar based on the extracted feature.
A sensor calibration device, comprising:
- one or more processors;
- a storage device, configured to store one or more programs,
- wherein when the one or more programs are executed by the one or more processors, the one or more processors are caused to:
- detect surrounding objects in a travelling process of a vehicle;
- recognize a static object from the surrounding objects;
- and
- perform feature extraction on the static object by a camera and a lidar respectively, and calibrate an extrinsic parameter of the camera and the lidar based on the extracted feature.
A non-transitory computer storage medium having stored thereon a computer program that, when executed by a processor, causes a sensor calibration method to be implemented, the method comprising:
- detecting surrounding objects in a travelling process of a vehicle;
- recognizing a static object from the surrounding objects;
- performing feature extraction on the static object by a camera and a lidar, respectively;
- and
- calibrating an extrinsic parameter of the camera and the lidar based on the extracted feature.
Dependencies are inferred from the claim text.