Method for parameter optimization between multiple cameras using lidar, and computer program recorded on record-medium to execute the same

A map generation device for optimizing, the map generation device comprising:

• a memory;
• a transceiver;
• and
• a processor configured to execute instructions stored in the memory,
• wherein the processor is configured to:
• receive images captured from a plurality of cameras and first point cloud data acquired, simultaneously with the images, from a LiDAR;
• estimate parameters between a pre-stored map and the LiDAR by mapping the first point cloud data to second point cloud data included in the pre-stored map;
• estimate image coordinates corresponding to coordinates of at least one of the first point cloud data or the second point cloud data based on the estimated parameters by projecting at least one of the first point cloud data or the second point cloud data onto the images;
• and
• optimize parameters among the plurality of cameras based on errors between the estimated image coordinates and target coordinates in the image corresponding to the estimated image coordinates,
• wherein the receiving comprises:
• receive a plurality of images captured in a first pose and a plurality of images captured in a second pose from the plurality of cameras;
• wherein the estimating image coordinates comprises:
• estimate first parameters among the plurality of cameras by projecting the point cloud data included in the pre-stored map onto the images captured in the first pose;
• estimate second parameters among the plurality of cameras based on the images captured in the second pose;
• and
• estimate image coordinates corresponding to the coordinates of the point cloud data included in the pre-stored map based on the first parameters and the second parameters.