CALIBRATION APPARATUS FOR MULTI-SENSOR BASED ON CLOSED-LOOP AND AND METHOD THEREOF

摘要

The present invention relates to an apparatus capable of improving a calibration performance between sensors as the relation between the sensors is configured by a closed-loop when the calibration between sensors is performed in a system consisting of a multi-sensor; and a method thereof. According to an embodiment of the present invention, a multi-sensor calibration apparatus based on a closed-loop comprises: a determining part to determine whether a closed-loop consisting of the multi-sensors is satisfied with a closed-loop constraint condition; and a controlling part to optimize an error function used in each sensor calibration of the multi-sensors by using the closed-loop constraint condition if the closed-loop consisting of the multi-sensors is satisfied with the closed-loop constraint condition. Each multi-sensor can consist of a plurality of array cameras respectively connected with one three dimensional lidar.