Author:
Song Shiping,Dong Changqing,Qin Kongjian,Hou Xintian,Zhao Xiong,Tian Xiaodi,Wang HuaSen
Abstract
Abstract
The intelligent connected vehicle can detect 360° full coverage around the vehicle by installing multiple radars and cameras. However, the sampling frequency of each sensor is different and each sensor outputs the target motion state information based on its coordinate system. the accurate and rapid realization of time synchronization and spatial position alignment between sensors is very important for multi-sensor data fusion. This paper presents a method of radar and camera time synchronization based on least squares cubic spline curve fitting. Based on time synchronization, a fast space joint calibration method of radar and camera is proposed based on the longitudinal symmetry plane of the vehicle. The validation data of the target object show that the proposed algorithm is accurate and simple.
Subject
Computer Science Applications,History,Education
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