Joint calibration method for three-dimensional point cloud sensor and two-dimensional image sensor of engineering machinery with operation device

The invention provides a joint calibration method for a three-dimensional point cloud sensor and a two-dimensional image sensor of engineering machinery with an operation device, and the method comprises the steps: building a model coordinate system through an engineering machinery model, and generating a three-dimensional model point cloud A of the operation device and m model dense straight line point clouds {Xm} of an outer contour; extracting the point cloud of the operation device from the point cloud data collected by the three-dimensional point cloud sensor, and registering the point cloud with the A to obtain a transformation relation F1 between the coordinate system of the three-dimensional point cloud sensor and the coordinate system of the model; using F1 to transform {Xm} to obtain m high-precision dense straight line point clouds {Ym} under a three-dimensional point cloud sensor coordinate system; n edge straight lines of the outer contour of the operation device are extracted from image data col