Patent ID: 11875535
Assignee: BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 4:
5. An electronic device, comprising:
at least one processor; and
a memory in communication with the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions, when executed by the at least one processor, cause the at least one processor to perform operations comprising:
acquiring a data set of three-dimensional point clouds and a two-dimensional image time-synchronized with the data set, of a calibration reference object, the two-dimensional image being acquired by a camera with a to-be-calibrated external parameter;
establishing a transformation relationship between a point cloud coordinate system and an image coordinate system, the transformation relationship comprising a transformation parameter;
back-projecting the data set of the three-dimensional point clouds onto a plane where the two-dimensional image is located through the transformation relationship to obtain a set of projection points of the three-dimensional point clouds;

adjusting the transformation parameter to map the set of projection points onto the two-dimensional image to obtain an adjusted transformation parameter; and
obtaining the to-be-calibrated external parameter of the camera based on the adjusted transformation parameter and the data set of the three-dimensional point clouds
wherein the adjusting the transformation parameter to map the set of projection points onto the two-dimensional image, comprises:
initializing the transformation parameter; and
increasing or decreasing a value of the transformation parameter until the set of projection points is mapped onto the two-dimensional image, in response to detecting that the set of projection points is not mapped onto the two-dimensional image.