| 彭 梦,邬书跃,陈 龙,李卓凡.一种鲁棒的 2D 激光雷达和摄像机最小解标定方法[J].电子测量与仪器学报,2023,37(8):146-154 |
| 一种鲁棒的 2D 激光雷达和摄像机最小解标定方法 |
| Robust minimum solution calibration method of 2D Lidar and camera |
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| DOI： |
| 中文关键词: 智能交通 2D 激光雷达 P3P 问题 外参数标定 RP3P 算法 可信度加权 |
| 英文关键词:intelligent transportation 2D Lidar P3P problem extrinsic calibration RP3P algorithm reliability weight |
| 基金项目:国家自然科学基金(62173134, 62006075)、湖南省自然科学基金(2023JJ50030,2023JJ50226)、湖南工程学院校级项目(YY1711,
XJ1605)资助 |
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| 中文摘要: |
| 因为 P3P 问题固有的结构缺陷,二维激光雷达和摄像机的最小解标定方法存在数值稳定性差、精度较差等问题。 针对
上述问题,本文提出了一种鲁棒的最小解标定方法,对 P3P 问题的求解算法和最优解选择误差度量进行改进。 首先,根据 3 个
棋盘格构建的 P3P 问题,利用改进的 RP3P 算法进行求解,提高了解的稳定性。 然后,基于可信度加权观测概率设计了一种的
最优解选择策略,提高了所选解的准确性。 根据实验结果可知,本文的算法在标定结果的精度和有效性上得到明显改善。 仿真
实验中,在不同噪声水平下,相比于 Francisco 方法和 Hu 方法,本文方法的有效解概率提高了 5% ~ 41%和 2% ~ 20%,旋转矩阵
精度提高了 2° ~ 6°和 1. 5° ~ 2°,平移向量精度提高了 180~ 520 mm 和 150~ 180 mm,性能提高明显。 |
| 英文摘要: |
| Because of the inherent structural defects of P3P problem, the minimum solution method for calibration of 2D Lidar and
camera has some shortcoming, such as poor numerical stability and accuracy. Aiming at the above problem, this paper proposes a robust
minimum solution calibration method, which improves algorithm of P3P problem and the error measurement of optimal solution selection.
Firstly, according to the P3P problem constructed by three checkerboards, the enhanced RP3P algorithm is used which can improve the
stability of the solution. Secondly, an optimal solution selection strategy based on observation probability with uncertainty weighted is
designed to improve the accuracy of the optimal solution. Experimental results show that the proposed algorithm can significantly improve
the probability of reasonable solution and calibration accuracy compared with the algorithms in the literature. Under different noise
levels, compared with Francisco method and Hu method, the probability of reasonable solution is improved by 5% ~ 41% and 2% ~ 20%,
the rotation matrix accuracy is improved by 2° ~ 6° and 1. 5° ~ 2°, the translation vector accuracy is improved by 180 ~ 520 mm and
150~ 180 mm, so the performance is improved obviously. |
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