The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 16, 2024
Filed:
Apr. 06, 2023
Nanjing University of Science and Technology, Suzhou, CN;
Dexin Ren, Suzhou, CN;
Mingwu Ren, Suzhou, CN;
NANJING UNIVERSITY OF SCIENCE AND TECHNOLOGY, Jiangsu, CN;
Abstract
The disclosure is a three-dimensional towered checkerboard for multi-sensor calibration, and a LiDAR and camera joint calibration method based on the checkerboard. The joint calibration method includes: establishing a modeling coordinate system taking the three-dimensional towered checkerboard as a basis, and generating a point cloud of the three-dimensional towered checkerboard; denoising a three-dimensional point cloud obtained by LiDAR, and obtaining an actual point cloud of the three-dimensional towered checkerboard under a LiDAR coordinate system; determining a transformation relationship between the LiDAR coordinate system and the modeling coordinate system; generating a corner point set of two-dimensional checkerboards under the modeling coordinate system in sequence according to actual positions of corners of the two-dimensional checkerboards, and transforming into the LiDAR coordinate system; obtaining a corner point set of the two-dimensional checkerboards on a photo; and calculating a transformation relationship between the camera coordinate system and the LiDAR coordinate system.