路侧激光雷达与摄像机时间和空间同步方法

doi:10.6040/j.issn.1672-3961.0.2022.069

山东大学学报 (工学版) ›› 2022, Vol. 52 ›› Issue (6): 56-62.doi: 10.6040/j.issn.1672-3961.0.2022.069

• 交通工程——智慧交通专题 • 上一篇

路侧激光雷达与摄像机时间和空间同步方法

王术剑¹,阎宗尧¹,刘世杰^2*,田源³

1.山东高速建设管理集团有限公司, 山东济南 250001;2.山东大学微电子学院, 山东济南 250101;3.山东大学齐鲁交通学院, 山东济南 250002

发布日期:2022-12-23
作者简介:王术剑(1982— ),男,山东青岛人,高级工程师,博士研究生,主要研究方向为高速公路项目建设管理工作. E-mail:9252815@qq.com. *通信作者简介:刘世杰(1998— ),男,山东潍坊人,硕士研究生,主要研究方向为智慧交通车路协同及北斗导航定位. E-mail:202032465@mail.sdu.edu.cn
基金资助:
山东省交通运输厅科研计划项目(2020BZ01-03)

Method for time and space synchronization between roadside LiDAR and camera

WANG Shujian¹, YAN Zongyao¹, LIU Shijie^2*, TIAN Yuan³

1. Shandong High Speed Construction Management Group Co. Ltd., Jinan 250001, Shandong, China;
2. School of Microelectronics, Shandong University, Jinan 250101, Shandong, China;
3. School of Qilu Transportation, Shandong University, Jinan 250002, Shandong, China

Published:2022-12-23

摘要/Abstract

摘要： 为解决激光雷达和摄像机之间因数据采集频率不同导致数据信息采集不匹配的问题,提出一种基于频率自匹配的多源传感器时间同步方法,在不改变传感器频率的前提下,采用频率自匹配算法对数据进行处理,使激光雷达和摄像机数据进行匹配,有效减少冗余数据,最终实现激光雷达点云数据和摄像机图像数据之间的时间同步。在时间同步基础上,采用基于平面靶联合标定的方法,实现多维度数据空间同步。通过实际场景测试试验,本研究提出的时间同步和空间同步方法的精度分别达到97.92%和96.21%,验证了该方法的准确性。本研究能够提高多源传感器信息融合准确性,有效解决单一传感器信息感知缺陷问题。

关键词: 激光雷达, 摄像机, 频率自匹配, 联合标定, 空间同步

中图分类号:

TN958.98

王术剑,阎宗尧,刘世杰,田源. 路侧激光雷达与摄像机时间和空间同步方法[J]. 山东大学学报 (工学版), 2022, 52(6): 56-62.

WANG Shujian, YAN Zongyao, LIU Shijie, TIAN Yuan. Method for time and space synchronization between roadside LiDAR and camera[J]. Journal of Shandong University(Engineering Science), 2022, 52(6): 56-62.

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路侧激光雷达与摄像机时间和空间同步方法

Method for time and space synchronization between roadside LiDAR and camera

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