Research On Panoramic Annular Optical Svstem Design And Data Fusion With Lidar

Multi-sensor data fusion is very important in the field of autonomous driving.If we need to make decisions about vehicle behavior through algorithms,we must first use sensors to obtain information about the external environment,and the data of one sensor is relatively single,and only the information of multiple sensors together,they can help computers understand the intricacies of the environment.This paper proposes a data fusion system based on a Panoramic Annular Optical System and lidar.Compared with the current popular multi-camera stitching scheme,the hardware structure is simpler and does not require the processing of stitching algorithms.This paper mainly deals with the optical design of the panoramic annular optical system,camera model calibration,joint calibration of cameras and lidar systems,etc.,and finally achieves the synchronous collection and fusion of panoramic lidar data and camera data.