CPC G06T 7/80 (2017.01) [G06T 7/74 (2017.01); G06T 2207/10028 (2013.01)] | 12 Claims |
1. A method for calibrating an external parameter of a camera, the method comprising:
acquiring a data set of three-dimensional point clouds and a two-dimensional image time-synchronized with the data set, of a calibration reference object, the two-dimensional image being acquired by the camera with a to-be-calibrated external parameter;
establishing a transformation relationship between a point cloud coordinate system and an image coordinate system, the transformation relationship comprising a transformation parameter;
back-projecting the data set of the three-dimensional point clouds onto a plane where the two-dimensional image is located through the transformation relationship to obtain a set of projection points of the three-dimensional point clouds;
adjusting the transformation parameter to map the set of projection points onto the two-dimensional image to obtain an adjusted transformation parameter; and
obtaining the to-be-calibrated external parameter of the camera based on the adjusted transformation parameter and the data set of the three-dimensional point clouds,
wherein the adjusting the transformation parameter to map the set of projection points onto the two-dimensional image, comprises:
initializing the transformation parameter; and
increasing or decreasing a value of the transformation parameter until the set of projection points is mapped onto the two-dimensional image, in response to detecting that the set of projection points is not mapped onto the two-dimensional image.
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