自动驾驶传感器标定

自动驾驶传感器校准

https://zhuanlan.zhihu.com/p/57028341
https://zhuanlan.zhihu.com/p/191372189
校准内容：内参、外参。
手眼标定：AX=XB https://blog.csdn.net/yaked/article/details/77161160
标定方法：（本质问题，数据类型不一样，不同传感器的信号获取频率不一样）

1. 相机校准：
   张氏标定法（https://blog.csdn.net/Swj_jason/article/details/93718571）（https://blog.csdn.net/u010128736/article/details/52860364）；
2. IMU—摄像头：
   INS-Camera Calibration without Ground Control Points
3. IMU—激光雷达：
   https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_5_lidar_calibration_guide_cn.md
   https://blog.csdn.net/qq_39266065/article/details/108146428
4. 雷达摄像头：
   Integrating Millimeter Wave Radar with a Monocular Vision Sensor for On-Road Obstacle Detection Applications
   https://blog.csdn.net/qq_41271957/article/details/88805676
5. 激光雷达-摄像头：
   LiDAR and Camera Calibration using Motion Estimated by Sensor Fusion Odometry
   Automatic Online Calibration of Cameras and Lasers
   Automatic Targetless Extrinsic Calibration of a 3D Lidar and Camera by Maximizing Mutual Information
   Automatic Calibration of Lidar and Camera Images using Normalized Mutual Information
   https://blog.csdn.net/learning_tortosie/article/details/82347694
   https://zhuanlan.zhihu.com/p/93216702
6. 激光雷达系统校准：
   Automatic self-calibration of a full field-of-view 3D n-laser scanner
7. Apollo3.一些与0摄像头相关的校准，包括：摄像头-摄像头、摄像头-多线激光雷达、毫米波雷达-摄像头：
   https://zhuanlan.zhihu.com/p/49166145
   https://blog.csdn.net/m0_38087936/article/details/88536345
   https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_5_lidar_calibration_guide_cn.md
   rt.js/
   https://www.cnblogs.com/liuzubing/p/11056936.html
8. Ubuntu16.04下Autoware安装与demo测试https://blog.csdn.net/Mr_yangsir/article/details/100975346
   https://blog.csdn.net/r1141207831/article/details/100666532
   https://dlonng.com/posts/autoware-calibr-1
   https://www.cnblogs.com/dlonng/p/13091956.html

MATLAB 2020b
https://zhuanlan.zhihu.com/p/268872775
https://zhuanlan.zhihu.com/p/258400931?utm_source=wechat_session
https://blog.csdn.net/mychaoles/article/details/109181195