Joint calibration method and apparatus, electronic device and unmanned aerial vehicle
AssigneeAutel Robotics Co., Ltd.
InventorYanfeng DANG
Life of this patent
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Abstract
A joint calibration method is implemented in an unmanned aerial vehicle. In the method, pose information of a detection radar is obtained, and the pose information includes a ground height of the detection radar and a pitch angle of the detection radar. Target calibration parameters matching the pose information in a preset calibration parameter set are obtained. The calibration parameter set includes groups of calibration parameters, and each group of calibration parameters matching a pose information interval and the pose information interval includes a height interval and a pitch angle interval. A spatial conversion relationship between the detection radar and an image acquisition device is determined based on the target calibration parameters.
Claims20
A joint calibration method, comprising:
- obtaining, by an unmanned aerial vehicle comprising a detection radar, pose information of the detection radar, the pose information comprising a ground height of the detection radar and a pitch angle of the detection radar;
- obtaining, by the unmanned aerial vehicle, target calibration parameters matching the pose information in a preset calibration parameter set, wherein
- the calibration parameter set comprises a plurality of groups of calibration parameters, each group of calibration parameters matching a pose information interval, and the pose information interval comprising a height interval and a pitch angle interval;
- and
- determining, by the unmanned aerial vehicle, a spatial conversion relationship between the detection radar and an image acquisition device based on the target calibration parameters.
An electronic device, comprising at least one processor and a memory communicatively connected to the at least one processor,
- the memory storing instructions executable by the at least one processor, the instructions being executed by the at least one processor, to cause the at least one processor to perform a plurality of operations comprising:
- obtaining pose information of a detection radar, the pose information comprising a ground height of the detection radar and a pitch angle of the detection radar;
- obtaining target calibration parameters matching the pose information in a preset calibration parameter set, wherein the calibration parameter set comprises a plurality of groups of calibration parameters, each group of calibration parameters matching a pose information interval, and the pose information interval comprising a height interval and a pitch angle interval;
- and
- determining a spatial conversion relationship between the detection radar and an image acquisition device based on the target calibration parameters.
An unmanned aerial vehicle, comprising:
- a body, a detection radar and an image acquisition device being disposed on the body;
- arms, connected to the body;
- power apparatuses, disposed on the arms and configured to provide power for the unmanned aerial vehicle to fly;
- and
- a flight controller, disposed on the body and communicatively connected to the detection radar and the image acquisition device respectively, wherein
- the flight controller stores a preset calibration parameter set and is configured to perform a plurality of operations, to determine a correspondence between radar data of the detection radar and image data of the image acquisition device, the operations comprising:
- obtaining pose information of a detection radar, the pose information comprising a ground height of the detection radar and a pitch angle of the detection radar;
- obtaining target calibration parameters matching the pose information in a preset calibration parameter set, wherein the calibration parameter set comprises a plurality of groups of calibration parameters, each group of calibration parameters matching a pose information interval, and the pose information interval comprising a height interval and a pitch angle interval;
- and
- determining a spatial conversion relationship between the detection radar and an image acquisition device based on the target calibration parameters.
Dependencies are inferred from the claim text.