Method, apparatus, device and medium for calibrating pose relationship between vehicle sensor and vehicle

An apparatus for calibrating a pose relationship between a vehicle sensor and a vehicle, the apparatus comprising:

• at least one processor;
• and
• a memory storing instructions, wherein the instructions when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising:
• acquiring, by a field-end sensor pre-deployed in a calibration environment, a first image of the calibration environment, and acquire a second image of the calibration environment by the vehicle sensor, the field-end sensor being mounted in a side edge area of the calibration environment, different identifier units arranged in a preset mode being laid on a spatial plane of the calibration environment, and each identifier unit corresponding to a feature corner point;
• determining a first pose transformation relationship between a vehicle coordinate system and a world coordinate system using a first feature corner point identified from the first image and a contact point between the vehicle and ground;
• determining a second pose transformation relationship between a vehicle sensor coordinate system and the world coordinate system using a second feature corner point identified from the second image;
• and
• calibrating the pose relationship between the vehicle sensor and the vehicle using the first pose transformation relationship and the second pose transformation relationship.

A non-transitory computer readable storage medium, storing a computer program thereon, wherein the computer program, when executed by a processor, causes the processor to perform operations for calibrating a pose relationship between a vehicle sensor and a vehicle, the operations comprising:

• acquiring, by a field-end sensor pre-deployed in a calibration environment, a first image of the calibration environment, and acquiring a second image of the calibration environment by the vehicle sensor, the field-end sensor being mounted in a side edge area of the calibration environment, different identifier units arranged in a preset mode being laid on a spatial plane of the calibration environment, and each identifier unit corresponding to a feature corner point;
• determining a first pose transformation relationship between a vehicle coordinate system and a world coordinate system using a first feature corner point identified from the first image and a contact point between the vehicle and ground;
• determining a second pose transformation relationship between a vehicle sensor coordinate system and the world coordinate system using a second feature corner point identified from the second image;
• and
• calibrating a pose relationship between the vehicle sensor and the vehicle using the first pose transformation relationship and the second pose transformation relationship.