CN112578367B - System and method for measuring relative time of camera and laser radar in automatic driving system - Google Patents
System and method for measuring relative time of camera and laser radar in automatic driving system Download PDFInfo
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- CN112578367B CN112578367B CN202011128834.2A CN202011128834A CN112578367B CN 112578367 B CN112578367 B CN 112578367B CN 202011128834 A CN202011128834 A CN 202011128834A CN 112578367 B CN112578367 B CN 112578367B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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Abstract
The invention discloses a system for measuring the relative time of a camera and a laser radar in an automatic driving system, which comprises: the laser radar and the camera are horizontally arranged in front of the automatic driving vehicle; a vertically arranged scale having height scales thereon; a viewing target arranged to fall from the zero scale of the scale; the control device is in data connection with the laser radar and the camera; during the falling process of the observation target, the control device receives the original point cloud data collected by the laser radar and the first system time stamp of each frame of original point cloud data, and the original image data collected by the camera and the second system time stamp of each frame of original image data, and sets the first system time stamp T at the reference height based on the arrival of the observation target lidar And a second system time stamp T camera And obtaining the time delay delta T of the camera relative to the laser radar. Correspondingly, the invention also discloses a method for measuring the relative time of the camera and the laser radar in the automatic driving system.
Description
Technical Field
The present invention relates to a measuring system and method, and more particularly, to a system and method for measuring time.
Background
In recent years, with the rapid development of the automobile industry and the improvement of the technological level, the automobile requirements of the market and users are gradually increased. In order to further improve the driving comfort for the users, many automobile manufacturers have conducted related research into autonomous vehicles, and some of the autonomous vehicles have begun to appear in the automobile market.
In the prior art, multiple types of sensors are integrated in an autonomous vehicle, wherein each type of sensor has its own time system, and different time systems may have different timestamps for environmental perception at the same time. Therefore, in the automatic driving vehicle, the relative time of different sensors is calibrated to facilitate the further processing of subsequent data by the sensor fusion algorithm.
Based on this, it is desirable to have a system and method for measuring the relative time between a camera and a lidar in an autonomous driving system that can quickly and accurately obtain the relative time between the lidar and the camera by comparing the system times of the lidar and the camera at the same time on an autonomous driving vehicle. The system and the method have very important practical significance, and in the automatic driving vehicle, the relative time of different sensors is calibrated, so that the further processing of the subsequent data by a sensor fusion algorithm is facilitated.
Disclosure of Invention
One of the objectives of the present invention is to provide a system for measuring the relative time between a camera and a lidar in an autonomous driving system, which can quickly and accurately obtain the relative time between the lidar and the camera by comparing the system time of the lidar and the camera at the same time on an autonomous driving vehicle. The system has very important practical significance, and in the automatic driving vehicle, the relative time of different sensors is calibrated, so that the further processing of the subsequent data by a sensor fusion algorithm is facilitated.
In order to achieve the above object, the present invention provides a system for measuring relative time between a camera and a lidar in an autopilot system, comprising:
a laser radar horizontally mounted in front of the autonomous vehicle;
a camera horizontally mounted in front of the autonomous vehicle;
the vertical scale is provided with height scales;
an observation target which is set to fall from the zero scale of the scale;
the control device is in data connection with the laser radar and the camera;
wherein, in the falling process of the observation target, the control device receives the original point cloud data and each frame collected by the laser radarA first system time stamp of the original point cloud data, a second system time stamp of the original image data collected by the camera and each frame of original image data, and a first system time stamp T of the observation target reaching the set reference height lidar And a second system time stamp T camera And obtaining the time delay delta T of the camera relative to the laser radar.
Further, in the system for measuring the relative time between the camera and the lidar in the autopilot system of the present invention, the system further comprises a reference element disposed at the set reference height.
Further, in the system for measuring relative time of a camera and a lidar in an autopilot system of the present invention, the reference element comprises a metal rod.
Further, in the system for measuring relative time between a camera and a lidar in an autopilot system according to the present invention, the observation target includes a metal ball.
In the technical scheme, the observation target can comprise a metal ball, and the metal ball has stronger laser reflection capability and can be effectively detected by a laser radar.
Accordingly, another object of the present invention is to provide a method for measuring relative time between a camera and a lidar in an autonomous driving system, which can quickly and accurately obtain the relative time between the lidar and the camera by comparing the system time of the lidar and the camera at the same time on an autonomous driving vehicle. The method has very important practical significance, and in the automatic driving vehicle, the calibration of the relative time of different sensors is beneficial to the further processing of the subsequent data by the sensor fusion algorithm.
In order to achieve the above object, the present invention provides a method for measuring relative time between a camera and a lidar in an autopilot system, comprising the steps of:
a vertical scale is arranged in front of the automatic driving vehicle, and height scales are arranged on the vertical scale;
enabling the observation target to fall from the zero scale of the scale;
in the falling process of the observation target, a first system time stamp of original point cloud data collected by a laser radar and each frame of original point cloud data is received, a second system time stamp of original image data collected by a camera and each frame of original image data is received, and the first system time stamp T is based on the first system time stamp T of the observation target reaching a set reference height lidar And a second system time stamp T camera And obtaining the time delay delta T of the camera relative to the laser radar.
Further, in the method for measuring relative time between a camera and a lidar in an automatic driving system of the present invention, the method further comprises: a reference element is provided at the set reference height.
Still further, in the method for measuring relative time of a camera and a lidar in an autonomous driving system of the present invention, the reference element comprises a metal rod.
Further, in the method for measuring relative time of a camera and a lidar in an autopilot system according to the present invention, the observation target includes a metal ball.
Further, in the method for measuring the relative time between the camera and the lidar in the autopilot system of the present invention, the set reference height is 1m.
The system for measuring the relative time between the camera and the laser radar in the automatic driving system can quickly and accurately obtain the relative time between the laser radar and the camera by comparing the system time of the laser radar and the camera on the automatic driving vehicle at the same moment.
The system has very important practical significance, and in the automatic driving vehicle, the calibration of the relative time of different sensors is beneficial to the further processing of the subsequent data by the sensor fusion algorithm.
Accordingly, the method for measuring the relative time between the camera and the laser radar in the automatic driving system, which is implemented based on the system, has the advantages and the beneficial effects.
Drawings
Fig. 1 schematically shows a schematic diagram of an apparatus for measuring relative time of a camera and a lidar in an autopilot system according to an embodiment of the present invention.
FIG. 2 is a flow chart of a method for measuring relative time between a camera and a lidar in an autopilot system of the present invention in one embodiment.
Detailed Description
The system and method for measuring relative time between a camera and a lidar in an autopilot system according to the present invention will be further explained and illustrated with reference to the drawings and the detailed embodiments of the present invention, which, however, should not be construed as unduly limiting the technical solution of the present invention.
FIG. 1 schematically illustrates an apparatus for measuring relative time between a camera and a lidar in an autopilot system according to one embodiment of the present invention.
As shown in fig. 1, in this embodiment, the system for measuring relative time between a camera and a lidar in an autopilot system according to the present invention may include: laser radar 1, camera 2, scale 3, observation target 4, control device (not shown in the figure). The laser radar 1 and the camera 2 are horizontally arranged in front of the automatic driving vehicle 5 and are in data connection with the control device; the scale 3 is vertically arranged and provided with height scales; the viewing target 4 may be arranged to fall from zero scale on the scale 3.
When the observation target 4 falls from the zero scale of the vertically arranged scale 3, the laser radar 1 can collect the original point cloud data and the first system timestamp of each frame of original point cloud data in the falling process of the observation target 4; the camera 2 may capture raw image data and a second system time stamp for each frame of raw image data.
In the present invention, a reference height may be preset in advance, so as to collect a first system time stamp T of the observation target 4 at the set reference height lidar And a second system time stamp T camera Second to the camera 2System time stamp T camera First system time stamp T acquired by subtracting laser radar 1 lidar Finally, the time delay delta T of the camera 2 relative to the laser radar 1 can be effectively obtained.
In addition, in the present invention, the system of the present invention may further include a reference element 6, in this embodiment, the reference element 6 may be a metal rod, and the observation target 4 falling from the zero scale of the scale 3 may be a metal ball.
FIG. 2 is a flow chart of a method for measuring relative time of a camera and a lidar in an autopilot system according to an embodiment of the invention.
As shown in fig. 2, in this embodiment, the method for measuring the relative time between the camera and the lidar in the autopilot system according to the present invention may include the steps of:
step (1): a vertical scale is arranged in front of the automatic driving vehicle, and height scales are arranged on the vertical scale;
step (2): enabling the observation target to fall from the zero scale of the scale;
and (3): in the falling process of the observation target, a first system time stamp of original point cloud data collected by a laser radar and each frame of original point cloud data is received, a second system time stamp of original image data collected by a camera and each frame of original image data is received, and the first system time stamp T is based on the first system time stamp T of the observation target reaching a set reference height lidar And a second system time stamp T camera And obtaining the time delay delta T of the camera relative to the laser radar.
It should be noted that the method of the present invention is implemented based on the above system for measuring relative time between the camera and the lidar in the autopilot system. In the present embodiment, the length of the scale 3 in the system may be 1.5m, the observation target 4 to be dropped is a metal ball, the reference height preset in advance may be 1m, and the reference element 6 is disposed at the reference height preset in advance.
A 1.5m long scale 3 is placed standing on the ground and the scale 3 can be detected by both the lidar and the camera in the system. At 1m of the scale 3, a metal rod with the length of 0.2m is fixed on the vertical scale 3 and used as a reference object for detecting that the observation target 4 falls to 1m by the laser radar 1 and the camera 2. A metal ball is taken as an observation target 4 and placed at the zero scale position at the top end of the scale 3 to begin to fall, and the metal ball has strong laser reflection capacity and can be detected by the laser radar 1.
When the metal ball falls from the zero scale of the vertically arranged scale 3, the laser radar 1 can collect the original point cloud data and the first system timestamp of each frame of original point cloud data in the falling process of the metal ball; the camera 2 may capture raw image data and a second system time stamp for each frame of raw image data.
The position of the metal ball is judged through the metal rod at the position of 1m of the scale, and the first system time stamp T when the metal ball falls to the position 1m away from the ground is respectively observed lidar And a second system time stamp T camera . And finally, a second system time stamp T acquired by the camera 2 camera First system time stamp T acquired by laser radar 1 is subtracted lidar The delay Δ T of the camera 2 with respect to the laser radar 1 can be obtained.
In conclusion, the method for measuring the relative time between the camera and the laser radar in the automatic driving system has the advantages of simple process, quick measurement and quite accurate measurement result. By adopting the method, the relative time between the laser radar and the camera in the automatic driving vehicle can be quickly and accurately obtained, and the sensor fusion algorithm is favorable for further processing subsequent data.
Accordingly, the system for measuring the relative time between the camera and the laser radar in the automatic driving system also has the advantages and beneficial effects.
It should be noted that the prior art in the protection scope of the present invention is not limited to the examples given in the present application, and all the prior art which is not inconsistent with the technical scheme of the present invention, including but not limited to the prior patent documents, the prior publications and the like, can be included in the protection scope of the present invention.
In addition, the combination of the features in the present application is not limited to the combination described in the claims of the present application or the combination described in the embodiments, and all the features described in the present application may be freely combined or combined in any manner unless contradictory to each other.
It should also be noted that the above-mentioned embodiments are only specific embodiments of the present invention. It is apparent that the present invention is not limited to the above embodiments and similar changes or modifications can be easily made by those skilled in the art from the disclosure of the present invention and shall fall within the scope of the present invention.
Claims (9)
1. A system for measuring camera to lidar relative time in an autonomous driving system, comprising:
a laser radar horizontally mounted in front of the autonomous vehicle;
a camera horizontally mounted in front of the autonomous vehicle;
a vertically arranged scale having height scales thereon;
an observation target which is set to fall from the zero scale of the scale;
the control device is in data connection with the laser radar and the camera;
during the falling process of the observation target, the control device receives the original point cloud data collected by the laser radar and the first system time stamp of each frame of original point cloud data, and the original image data collected by the camera and the second system time stamp of each frame of original image data, and the control device is based on the first system time stamp T of the observation target reaching the set reference height lidar And a second system time stamp T camera And obtaining the time delay delta T of the camera relative to the laser radar.
2. The system for measuring camera to lidar relative time in an autonomous driving system of claim 1, further comprising a reference element disposed at the set reference height.
3. A system for measuring camera to lidar relative time in an autonomous driving system as recited in claim 2, wherein the reference element comprises a metal rod.
4. A system for measuring camera to lidar relative time in an autonomous driving system as recited in claim 1, wherein the observation target comprises a metal ball.
5. A method for measuring relative time of a camera and a lidar in an autonomous driving system, comprising the steps of:
a vertical scale is arranged in front of the automatic driving vehicle, and is provided with height scales;
enabling the observation target to fall from the zero scale of the scale;
in the falling process of the observation target, a first system time stamp of original point cloud data collected by a laser radar and each frame of original point cloud data is received, a second system time stamp of original image data collected by a camera and each frame of original image data is received, and the first system time stamp T is based on the first system time stamp T of the observation target reaching a set reference height lidar And a second system time stamp T camera And obtaining the time delay delta T of the camera relative to the laser radar.
6. The method for measuring camera to lidar relative time in an autonomous driving system of claim 5, further comprising: a reference element is provided at the set reference height.
7. The method for measuring camera to lidar relative time in an autonomous driving system of claim 6 wherein the reference element comprises a metal rod.
8. The method for measuring camera to lidar relative time in an autonomous driving system of claim 5 wherein the observation target comprises a metal ball.
9. The method for measuring camera to lidar relative time in an autonomous driving system of claim 5 wherein the set reference height is 1m.
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| CN202011128834.2A CN112578367B (en) | 2020-10-21 | 2020-10-21 | System and method for measuring relative time of camera and laser radar in automatic driving system |
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| CN111179358B (en) * | 2019-12-30 | 2024-01-05 | 浙江商汤科技开发有限公司 | Calibration method, device, equipment and storage medium |
| CN113219479A (en) * | 2021-05-13 | 2021-08-06 | 环宇智行科技(苏州)有限公司 | Camera and laser radar synchronization method and system of intelligent driving control system |
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| CN111756463A (en) * | 2019-03-29 | 2020-10-09 | 北京航迹科技有限公司 | Time synchronization system and method for vehicle |
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