FR3120711B1 - Procede et dispositif de calibration d'un capteur de profondeur d'environnement - Google Patents
Procede et dispositif de calibration d'un capteur de profondeur d'environnement Download PDFInfo
- Publication number
- FR3120711B1 FR3120711B1 FR2102300A FR2102300A FR3120711B1 FR 3120711 B1 FR3120711 B1 FR 3120711B1 FR 2102300 A FR2102300 A FR 2102300A FR 2102300 A FR2102300 A FR 2102300A FR 3120711 B1 FR3120711 B1 FR 3120711B1
- Authority
- FR
- France
- Prior art keywords
- calibration
- flat surfaces
- depth sensor
- environment depth
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title abstract 3
- 230000007613 environmental effect Effects 0.000 title 1
- 238000007619 statistical method Methods 0.000 abstract 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S7/4972—Alignment of sensor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
L’invention concerne un procédé de calibration d'un capteur de profondeur d'environnement (11, 12, 13) porté par un véhicule (1), qui comprend :- une étape de stockage de données concernant des surfaces planes identifiées par le capteur de profondeur d'environnement (11, 12, 13), ces données comprenant au moins des informations concernant l’orientation des surfaces planes ;- une étape d'analyse statistique des données stockées dans la base de données, apte à identifier une orientation prédominante de surfaces planes ;- une étape de calcul d'un angle de calibration, formé entre cette orientation prédominante de surfaces planes et le capteur de profondeur d’environnement (11, 12, 13). L’invention concerne également un dispositif de calibration apte à mettre en œuvre ce procédé de calibration. Figure pour l’abrégé : Figure 1
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR2102300A FR3120711B1 (fr) | 2021-03-09 | 2021-03-09 | Procede et dispositif de calibration d'un capteur de profondeur d'environnement |
JP2023555411A JP2024509299A (ja) | 2021-03-09 | 2022-03-08 | 環境深度センサを較正するための方法及び装置 |
PCT/EP2022/055810 WO2022189389A1 (fr) | 2021-03-09 | 2022-03-08 | Procede et dispositif de calibration d'un capteur de profondeur d'environnement |
US18/280,834 US20240159567A1 (en) | 2021-03-09 | 2022-03-08 | Method and device for calibrating an environment depth sensor |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR2102300 | 2021-03-09 | ||
FR2102300A FR3120711B1 (fr) | 2021-03-09 | 2021-03-09 | Procede et dispositif de calibration d'un capteur de profondeur d'environnement |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3120711A1 FR3120711A1 (fr) | 2022-09-16 |
FR3120711B1 true FR3120711B1 (fr) | 2023-04-14 |
Family
ID=75690497
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR2102300A Active FR3120711B1 (fr) | 2021-03-09 | 2021-03-09 | Procede et dispositif de calibration d'un capteur de profondeur d'environnement |
Country Status (4)
Country | Link |
---|---|
US (1) | US20240159567A1 (fr) |
JP (1) | JP2024509299A (fr) |
FR (1) | FR3120711B1 (fr) |
WO (1) | WO2022189389A1 (fr) |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019099490A1 (fr) | 2017-11-14 | 2019-05-23 | Continental Automotive Systems, Inc. | Ensemble capteur lidar flash |
CA3027921C (fr) * | 2018-06-25 | 2022-04-12 | Beijing Didi Infinity Technology And Development Co., Ltd. | Etalonnage de capteur integre dans les scenes naturelles |
-
2021
- 2021-03-09 FR FR2102300A patent/FR3120711B1/fr active Active
-
2022
- 2022-03-08 WO PCT/EP2022/055810 patent/WO2022189389A1/fr active Application Filing
- 2022-03-08 US US18/280,834 patent/US20240159567A1/en active Pending
- 2022-03-08 JP JP2023555411A patent/JP2024509299A/ja active Pending
Also Published As
Publication number | Publication date |
---|---|
FR3120711A1 (fr) | 2022-09-16 |
WO2022189389A1 (fr) | 2022-09-15 |
JP2024509299A (ja) | 2024-02-29 |
US20240159567A1 (en) | 2024-05-16 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
PLFP | Fee payment |
Year of fee payment: 2 |
|
PLSC | Publication of the preliminary search report |
Effective date: 20220916 |
|
PLFP | Fee payment |
Year of fee payment: 3 |
|
TP | Transmission of property |
Owner name: CONTINENTAL AUTONOMOUS MOBILITY GERMANY GMBH, DE Effective date: 20230424 |
|
PLFP | Fee payment |
Year of fee payment: 4 |