External parameter calibration method for GNSS and monocular camera
The invention discloses an external parameter calibration method for a GNSS and a monocular camera, and the method comprises the following steps: S1, carrying out the time synchronization and rigid connection of the GNSS and the camera, and calibrating the internal parameter of the camera; s2, movin...
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Format: | Patent |
Sprache: | chi ; eng |
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Zusammenfassung: | The invention discloses an external parameter calibration method for a GNSS and a monocular camera, and the method comprises the following steps: S1, carrying out the time synchronization and rigid connection of the GNSS and the camera, and calibrating the internal parameter of the camera; s2, moving the GNSS and the camera according to a track to acquire data; s3, obtaining a track under a coordinate system of the camera through ORB-SLAM3; s4, performing interpolation correspondence on the GNSS data selected by each frame according to the SLAM track timestamp range; s5, converting the longitude and latitude data acquired by the GNSS into an east-north-sky coordinate system according to the first frame of the camera, and aligning the first frame to the true north; and S6, aligning the slam position and the corresponding GNSS data in a scale manner through an umeyama algorithm, performing rotation for normalization, and obtaining external parameters. The method has the beneficial effects that the method does n |
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