Sensor calibration method and device, computer storage medium and terminal

The invention discloses a sensor calibration method and device, a computer storage medium and a terminal; according to the method, point cloud data in a laser radar is matched with a preset map, and first pose data is obtained; second pose data obtained by inertial navigation equipment (INS) is aligned with the first pose data to obtain third pose data, so that unification of data for sensor calibration is ensured, and the first pose data and the third pose data with synchronous timestamps are obtained; on-line sensor calibration is achieved through the third pose data obtained in real time, data support is provided for vehicle trajectory estimation and driving environment construction, and the accuracy of vehicle navigation is improved. 本文公开一种传感器标定的方法、装置、计算机存储介质及终端，本发明实施例将激光雷达里点云数据与预设地图匹配，获得第一位姿数据；通过惯性导航设备(INS)获得的第二位姿数据与第一位姿数据对齐，获得第三位姿数据，保证了用于传感器标定的数据的统一，获得了时间戳同步的第一位姿数据和第三位姿数据；通过实时获得的第三位姿数据实现了在线传感器标定，为车辆轨迹估计与驾驶环境构建提供了数据支持，提升了车辆导航的准确性。