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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

Active Publication Date: 2013-08-21
DALIAN UNIV OF TECH
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Problems solved by technology

Because this method is based on the principle of data pushback, there is a shortage of probabilistic errors in the calibration results, and the high precision of the calibration cannot be guaranteed.
The laser parameter calibration method proposed in the literature (Guerreiro B., Silvestre C., Oliveira P., Automatic LADAR Calibration Methods using Geometric Optimization, IEEE International Conference on Robotics and Automation, 2011) uses two sets of laser point cloud data sets for matching , but this method cannot solve the problem of computational efficiency, and only gives simulation results, and the actual use value is not great

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

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Embodiment Construction

[0022] 1. Design of two-dimensional laser sensor characteristic analysis and calibration device:

[0023] The invisibility of the laser beam emitted by the laser sensor makes it difficult and inconvenient to capture the position of the laser beam. Different media surfaces have different reflectivity for the laser beam emitted by the laser, and different incident angles also have obvious effects on distance measurement. Influence, the surface color of the target object has little effect on the distance measurement, but the black object will reduce the reflectivity of the laser beam, so it is not suitable for calibrating the surface color of the target object. In view of the above-mentioned laser characteristics, the calibration device used in the embodiment of the present invention is as follows figure 1 , 2 As shown, the bottom of the calibration device is a 400mm×308mm black stainless steel base, and the top of the calibration device is two 500mm×150mm stainless steel baffl...

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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.

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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Application Information

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IPC IPC(8): G01S7/497
Inventor 庄严祝天健何国建闫飞
Owner DALIAN UNIV OF TECH
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