Acta Metrologica Sinica  2024, Vol. 45 Issue (5): 631-638    DOI: 10.3969/j.issn.1000-1158.2024.05.04
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Improved Method of Joint Calibration Based on 3D Millimeter Wave Radar and Camera
SHAO Jianhao,ZHANG Yuanhui,CHEN Kefeng,LIU Kang
College of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou, Zhejiang 310018, China
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Abstract  Traditional camera and millimeter-wave radar joint calibration methods have the problem of cumbersome data collection as they can only calibrate on a fixed plane. A fast calibration improvement method applicable to three-dimensional space is proposed based on the traditional methods. Firstly, radar and image preprocessing are performed. Secondly, a time synchronization strategy is used to collect and match a large amount of data within a short period. Then, the random sample consensus algorithm (RANSAC) is used in spatial calibration to reduce the interference of outliers and achieve preliminary coarse calibration. Finally, the Levenberg-Marquardt (LM) algorithm is used to refine the coarse calibration results for precise calibration iteratively. Experimental results show that the improved calibration method converges to an overall root mean square error of about 10 pixels, significantly improving the calibration accuracy compared to traditional joint calibration algorithms, and the calibration process takes about 12 minutes to complete.
Key wordsmachine vision      spatiotemporal calibration      3D millimeter wave radar      RANSAC      joint calibration     
Received: 19 May 2023      Published: 23 May 2024
PACS:  TB92  
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SHAO Jianhao
ZHANG Yuanhui
CHEN Kefeng
LIU Kang
Cite this article:   
SHAO Jianhao,ZHANG Yuanhui,CHEN Kefeng, et al. Improved Method of Joint Calibration Based on 3D Millimeter Wave Radar and Camera[J]. Acta Metrologica Sinica, 2024, 45(5): 631-638.
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http://jlxb.china-csm.org:81/Jwk_jlxb/EN/10.3969/j.issn.1000-1158.2024.05.04     OR     http://jlxb.china-csm.org:81/Jwk_jlxb/EN/Y2024/V45/I5/631
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