Vehicle-mounted depth camera external parameter self-calibration method based on motion

The invention belongs to the related technical field of sensor calibration, and discloses a vehicle-mounted depth camera external parameter self-calibration method based on motion, and the method comprises the steps: employing a depth camera on a vehicle to collect a color image and a depth image, and employing a wheel speed meter to collect wheel rotation angle data; inputting the color image and the depth image sequence into an SLAM algorithm to obtain a camera pose of the depth camera at each moment; adopting a flooding filling algorithm to obtain a ground point cloud; obtaining a ground plane equation and partial camera external parameters, obtaining relative motion of the depth camera according to the camera pose, and projecting the relative motion to the ground plane to obtain a camera motion sequence in a two-dimensional space; acquiring a motion sequence of a vehicle chassis; and according to the motion sequence of the vehicle chassis and the motion sequence of the depth camera, solving the kinematics