System and Method of convergence a coordinate system between Lidar and Stereo-Camera

摘要

A coordinate system matching system between a lidar and a stereo-camera according to an embodiment of the present invention is a lidar for measuring the distance and direction with an object, a stereo-camera for taking a stereoscopic picture of the object ( Stereo-Camera), a marker for lidar that is formed to have the same coordinate system as the coordinate system of the lidar and is placed on the upper part of the lidar, a calibration pattern for analyzing the coordinate system of the stereo-camera (Calibration Pattern), a calibration pattern and a marker for a calibration pattern for calculating a coordinate system transformation with a calibration pattern, a marker for LiDAR, and a marker for the calibration pattern are detected and the transformation relationship up to each marker coordinate system is obtained By analyzing the coordinate system transformation relationship between the tracking device (Tracker) and lidar for analysis, marker for lidar, stereo-camera, calibration pattern, marker for calibration pattern, and position tracking device, the coordinate system of lidar and stereo-camera coordinate system It includes a control unit for matching. According to an embodiment of the present invention, it is possible to provide an accurate and efficient LIDAR coordinate system and stereo-camera coordinate system matching method.