METHOD FOR AUTOMATIC CALIBRATION OF MACHINE VISION SENSORS OF RAIL VEHICLE Russian patent published in 2024 - IPC G06T7/80 

FIELD: railway engineering.

SUBSTANCE: field of calibration of machine vision sensors for a rail vehicle. To calibrate the sensors, each test object is made in the form of a marker in the form of black and white rectangles, the marker has an identifier and is heated; when processing images of templates obtained as a result of shooting with a thermal imager, the computer uses the Laplace operator or morphological operations and normalization, search for thermal contours of each test object, from which the marker areas are isolated, obtained as a result of shooting each camera in the visible range, the image of the templates is filtered by the computer to improve the image, and the results of the selection of each marker are combined, when processing the shooting of the templates with a lidar, the computer from the resulting 3D cloud points forms a pseudo-image with filtering by depth, as well as a number of pseudo-images by reflectivity with filtering by selected sets of thresholds with the same step between them and combines the resulting pseudo-images, for each pseudo-image a 3D cloud of points is formed, which is then clustered with the selected limiting step.

EFFECT: increasing the accuracy of calibration of machine vision sensors.

4 cl, 2 dwg