Space-time calibration method and device of sensor

The invention provides a space-time calibration method and device of a sensor. According to the method, the spaces of different sensors can be calibrated based on one or more static reference objects in an overlapping region in sensing regions among the different sensors, so that spatial unification among the different sensors is realized, and then based on the motion data of an object moving in the overlapping region, the space of the different sensors can be calibrated. According to the method, the time of different sensors is calibrated, so that the time unification among the different sensors is realized, the time and space calibration of the different sensors is realized, the problem that the time and the space of data sensed by the different sensors are not synchronous is effectively solved, and the accuracy of subsequent data fusion is improved. 本发明提供了一种传感器的时空标定方法及装置。该方法可以基于不同的传感器间感知区域中的重叠区域中的一个或多个静止的参照物，对不同的传感器的空间进行标定，使得不同的传感器间实现了空间上的统一，然后再基于在重叠区域中运动的物体的运动数据，对不同的传感器的时间进行标定，使得不同的传感器间实现了时间上的统一，从而实现了对不同的