摘 要：鉴于单传感器环境感知的局限，智能驾驶客车普遍采用多传感器融合技术进行联合标定。本文在保留张正友相机标定法使用针孔成像原理和二维黑白棋盘格标定板获取内参变换矩阵步骤的基础上，提出一种更准确的相机标定改进方法。
关键词：智能驾驶客车；多传感器；联合标定
中图分类号：U469.13+3；TP212.6 文献标志码：A DOI：10.15917/j.cnki.1006-3331.2025.05.002
Research on Multi-sensor Joint Calibration Algorithm for Intelligent Driving Buses
ZHAO Yuying,WANG Falong,YU Yingying
Abstract: Given the limitations of a single-sensor sensing environment,intelligent driving buses generally adopt multi-sensor fusion technology to perform joint calibration.This paper proposes an improved method for camera calibration,which builds upon the steps of Zhang Zhengyou's camera calibration method,utilizes the pinhole imaging principle,and a two-dimensional black-and-white chessboard calibration board to obtain the internal parameter transformation matrix.
Key words: intelligent driving bus; multi-sensor; joint calibration
