The invention discloses a semi-automatic calibration method for a multi-line
laser radar and a visual sensor. The method is characterized in that the method comprises the following steps: calibrating the internal reference of the visual sensor, inputting a
calibration result into a calibration program, and determining a focusing range; moving a calibration plate bottom plate to the front of the visual sensor, then standing still, placing marker standard plates in sequence, and then determining the positions of the marker standard plates through a visual sensor
visualization module; recording scale values corresponding to the marker standard boards, inputting the scale values into a
prior information calculation module according to a given name and the placement sequence of the marker standard boards, and performing calculation through the
prior information calculation module to obtain
prior information; and recording data packets of the
laser radar and the visual sensor by using rosbag, and when prior information is consistent with configuration information and scale values, starting a calibration program, and outputting an
external reference result, an optimizing residual root-mean-
square error and a projection evaluation effect. Calibration stability and calibration precision are improved through automatic identification of
laser radar feature points and a visual sensor identification
verification mechanism.