Panorama three-dimensional laser sensor data calibration method and apparatus

Abstract

The invention relates to a panorama three-dimensional laser sensor data calibration method and apparatus. The apparatus includes a three-dimensional laser sensor and a calibration device. The method includes the following steps: firstly, dividing scan data of a two-dimensional laser sensor into two parts on average on the basis of the positive portion and the negative portion of a yL axis, then forming a laser scan plane, and forming two pieces of space three-dimensional point cloud data by the positive and negative laser data of the yL axis when a rotary holder drives the two-dimensional laser sensor to rotate 360 degrees; secondly, extracting laser data characteristic points needed by calibration from the two pieces of space three-dimensional point cloud data; and thirdly, optimizing distances among the laser points in the two pieces of space three-dimensional point cloud data, and then obtaining a calibration parameter. The problems of uncontrollable human errors and long time caused by hand-operated click matching are solved, factors that are likely to affect the data precision are fully considered, the calibration precision of the sensor is improved, and the universality of the calibration method is improved.

Description

technical field [0001] The invention belongs to the technical field of environmental perception, in particular to a method and device for improving the accuracy of panorama data collected by a three-dimensional laser ranging system, and in particular to a method and device for calibrating panoramic three-dimensional laser sensor data. Background technique [0002] The laser sensor is an active sensor with strong anti-interference ability, can provide accurate depth information, can describe the geometric characteristics of the environment in detail, and directly and quickly obtain the 3D model of the environment, so it occupies a dominant position in 3D environment perception. It has great application value in engineering surveying and other fields. At present, there are many manufacturers selling 3D laser inspection systems in the world, such as Riegl in Austria, Leica in Switzerland, Topcon in Japan, Faro in the United States, etc. These sensors are expensive and often hav...

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Problems solved by technology

[0005] Literature (Jesús Morales, Jorge L. Martínez, Anthony Mandow, Antonio J. Reina, Alejandro -BoterandAlfonsoGarcía-Cerezo, "BoresightCalibrationofConstructionMisalignmentsfor3DScannersBuiltwitha2DLaserRangefinderRotatingonItsOpticalCenter", Sensors, 14(11), 20025-20040, 2014.) Using the Nelder-Mead method to optimize the flatness and area of ​​the plane data, and calibrate the coordinates of the 2D laser sensor relative to the 3D data The two rotation angles of the system, although relatively accurate 3D data can be obtained, but because some internal parameters of the 3D laser are ignored, when there is an installation error, a certain amount of data error will still be introduced

Similarly, the literature (Gu Xiaojie, Bu Chunguang, Chen Cheng, Zhou Junzhe, "Research on Design and Calibration Method of 3D Laser Ranging System", Journal of Shenyang University of Technology, 33(5), 10-14, 47, 2014) only considered 3D laser Some internal parameters of the sensor cannot be used as a general method to calibrate various 3D laser sensors

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