Three-dimension laser sensor and two-dimension laser sensor combined calibration method

A two-dimensional laser and three-dimensional laser technology, used in instruments, radio wave measurement systems, etc., can solve problems such as inability to solve calculation efficiency, inability to ensure high calibration accuracy, and low use value, to overcome limitations and solve uncontrollable problems. Human error, the effect of improving efficiency and accuracy
CN103257342AActive Publication Date: 2013-08-21DALIAN UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
DALIAN UNIV OF TECH
Publication Date
2013-08-21

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Abstract

The invention discloses a three-dimension laser sensor and two-dimension laser sensor combined calibration method. Distance measuring mutation characteristics produced when two-dimension laser is used for scanning a calibration plate with clearance in the middle. Mapping relevance between a data matrix of a straight line, where the clearance is located, in a laser sensor local coordinate system and a data matrix of the straight line, where the clearance is located, in an unmanned intelligent cart coordinate system is utilized to rectify rotating gestures of laser sensors. On the basis of the rectification, point cloud data of a protruding rectangular object in a level scene is further extracted, and horizontal moving rectification is conducted according to an ICP iterative optimization algorithm. Consequently, combined calibration of a three-dimension laser distance detection sensor and a plurality of two-dimension laser distance detection sensors is achieved.
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Description

technical field

[0001] The invention belongs to the technical field of autonomous environment perception of mobile robots and unmanned vehicles, and relates to data fusion between three-dimensional laser ranging and multiple different-surface two-dimensional laser ranging sensors, especially a method that can improve calibration efficiency and accuracy A joint calibration method for a three-dimensional laser sensor and a two-dimensional laser sensor. Background technique

[0002] Mobile robot systems working in complex unstructured scenes cannot effectively complete autonomous environment perception and autonomous scene understanding by relying on a single sensor. Data matching and fusion between multiple sensors is necessary to improve the performance of robot 3D environment map construction and scene understanding. means, and the joint calibration between multiple sensors is an important part of it. Previous calibration work was often aimed at the calibration between the ...

Claims

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