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1. (WO2018142057) METHOD AND DEVICE FOR CALIBRATING A PERCEPTION SYSTEM INCLUDING A SET OF LIDAR RANGEFINDERS

Pub. No.:    WO/2018/142057    International Application No.:    PCT/FR2018/050210
Publication Date: Fri Aug 10 01:59:59 CEST 2018 International Filing Date: Wed Jan 31 00:59:59 CET 2018
IPC: G06T 7/80
G01S 7/497
Applicants: UNIVERSITÉ CLERMONT AUVERGNE
CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE
Inventors: DHOME, Michel
ROYER, Éric
SLADE, Morgan
Title: METHOD AND DEVICE FOR CALIBRATING A PERCEPTION SYSTEM INCLUDING A SET OF LIDAR RANGEFINDERS
Abstract:
The invention relates to a method for determining extrinsic parameters of a perception system integrated into a vehicle (100) that travels a path and that comprises a set of rangefinders (L1, L2) that deliver frame streams to a processing device (110), this method being characterised by the determination of calibration parameters of at least one video camera (C1, C2) belonging to said perception system, and the determination of the position of the vehicle as a function of time and of these parameters, and furthermore comprising the detection of landmarks within the frame streams corresponding to landmarks in the real world, then determining extrinsic parameters that minimise a cost function measuring discrepancies between the detected landmarks associated with the same landmarks in the real world.