Calibration method and apparatus for sensor, and calibration system

A calibration apparatus for a sensor comprising a camera and a radar, the calibration apparatus comprising:

• at least one processor;
• and
• at least one non-transitory memory coupled to the at least one processor and storing programming instructions for execution by the at least one processor to perform operations comprising:
• collecting a plurality of images of a calibration plate in respective position-orientations by the camera, wherein the calibration plate is located within a common field of view range of the radar and the camera;
• collecting multiple sets of radar point cloud data of the calibration plate in the respective position-orientations by the radar;
• establishing corresponding relationships between the plurality of images and the multiple sets of radar point cloud data based on the respective position-orientations of the calibration plate, wherein, for each of the respective position-orientations of the calibration plate, a corresponding relationship exists between an image of the plurality of images and a set of the multiple sets of radar point cloud data that are collected in the respective position-orientation of the calibration plate;
• respectively determining multiple sets of target radar point cloud data matched with the calibration plate in the respective position-orientations among the multiple sets of radar point cloud data;
• and
• determining a target extrinsic parameter between the radar and the camera according to the multiple sets of target radar point cloud data and multiple sets of corresponding relationships.

A calibration system, comprising:

• a camera;
• a radar;
• a calibration plate, wherein the calibration plate is located within a common field of view range of the camera and the radar, and position-orientation information of the calibration plate at different collection times is different;
• and
• a calibration apparatus comprising:
• at least one processor;
• and
• at least one non-transitory memory coupled to the at least one processor and storing programming instructions for execution by the at least one processor to perform operations comprising:
• collecting a plurality of images of the calibration plate in respective position-orientations by the camera;
• collecting multiple sets of radar point cloud data of the calibration plate in the respective position-orientations by the radar;
• establishing corresponding relationships between the plurality of images and the multiple sets of radar point cloud data based on the respective position-orientations of the calibration plate, wherein, for each of the respective position-orientations of the calibration plate, a corresponding relationship exists between an image of the plurality of images and a set of the multiple sets of radar point cloud data that are collected in the respective position-orientation of the calibration plate;
• respectively determining multiple sets of target radar point cloud data matched with the calibration plate in the respective position-orientations among the multiple sots of radar point cloud data;
• and
• determining a target extrinsic parameter between the radar and the camera according to the multiple sets of target radar point cloud data and multiple sets of corresponding relationships.