| 摘要 |
A method and device for calibrating an automated guided vehicle AGV with a sensor. The method 500 comprise: locating the AGV in a known pose relative to a calibration artefact 510; observing the artefact with the sensor; and determining a calibration parameter of the AVG based on the observation. The device (120, figures 3, 4, 6, 7) is used to calibrate the AVG, it comprise a calibration artefact (122, fig 3, 4, 6, 7); and a locating member (124, figs 3, 4, 6, 7) configured to located the AVG in a known pose relative to the artefact. The calibration parameter may also comprises a transformation between a frame of reference (FoR) of the sensor and a FoR of the AGV. The method may further comprise determining the pose of the sensor within a FoR of the artefact based on the observation, and the calibration parameter is based on the known pose of the AGV relative to the artefact and the pose of the sensor within the FoR to the artefact. The calibration to take into account the intrinsic and extrinsic parameter associated with the AGV. Intrinsic being parameters associated with the sensor, e.g. focal length or lens distortion. |
