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

Claim 8:
9. A non-transitory computer readable storage medium storing computer instructions, wherein the computer instructions cause a computer 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.