A Multi-Sensor External Parameter Synchronous Calibration Method Based on Hand-Eye Calibration

At present, the navigation scheme of multiple sensors information fusion is widely used in the field of automatic driving, and calibration of external parameters between sensors is the premise of the fusion of different sensor information. The current multiple sensors external parameter calibration method still faces the problems of high workload and low efficiency. To deal with such problems, we propose a multiple sensors external parameter synchronous calibration method based on hand-eye calibration. Firstly, in response to the possibility of carrier degradation, we improve the odometer increment calculation method and optimize the processing of degraded motion. Secondly, considering the need for external parameter calibration between multiple sensors, we use the hand-eye calibration method to calibrate external parameters according to the motion tracks of different sensors, so as to realize the rapid synchronous calibration of external parameters between multiple sensors. Finally, the experimental results indicate that the proposed method can not only effectively cope with degraded motion, but also achieve fast synchronization calibration of external parameters between multiple sensors.