Sensor calibration method and device, electronic equipment, storage medium and program

The invention provides a sensor calibration method and device, electronic equipment, a storage medium and a program. The calibration method is based on a calibration board. The sensor comprises a camera, a laser radar and a millimeter wave radar. The sensor collects at least two groups of image data, first point cloud data and second point cloud data; calculating a rotation transformation matrix and a translation vector from a laser radar coordinate system to a camera coordinate system according to the data; calculating a rotation transformation matrix and a translation vector from the millimeter wave radar coordinate system to the camera coordinate system; and constructing a re-projection error, and under the condition that the re-projection error is the minimum value, determining a final calibration parameter according to the external parameters among the sensors at the moment, thereby completing the calibration of the sensors. The step number and the calculation amount of an iterative algorithm can be redu