Laser-radar automatic calibration method and device thereof

A technology of laser radar and calibration method, applied in the field of unmanned vehicle navigation, can solve problems such as autonomous positioning of unmanned vehicle radar, and achieve the effect of improving the recognition degree of scanning images and improving the accuracy rate

Active Publication Date: 2016-08-17
FUZHOU HUAYING HEAVY IND MACHINERY
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Problems solved by technology

[0004] To this end, it is necessary to provide an adaptive lidar automatic calibrat

Method used

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  • Laser-radar automatic calibration method and device thereof
  • Laser-radar automatic calibration method and device thereof
  • Laser-radar automatic calibration method and device thereof

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Embodiment Construction

[0048] In order to explain in detail the technical content, structural features, achieved goals and effects of the technical solution, the following will be described in detail in conjunction with specific embodiments and accompanying drawings.

[0049] 1. General idea

[0050] The present invention proposes a brand-new method for automatically calibrating the internal parameters and external parameters of multi-beam laser radar (in this paper, Velodyne HD 64-E laser radar is taken as an example, but it is used for any line-scanning laser radar), and the process No specific calibration targets or manual measurements are used in the test. After the laser radar is loaded on an unmanned vehicle, coupled with the readings of the inertial measurement unit, our algorithm does not need map assistance, only the readings of any surrounding environment scanned by the machine within a few seconds, can Can calculate hundreds of lidar sensor parameters.

[0051] The present invention is ...

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Abstract

A laser-radar calibration method and a device thereof are disclosed. The method comprises the step of external parameter calibration, wherein the external parameter calibration includes steps that a radar moves along with a vehicle; radar reflection data is collected; the collected data is substituted into a lattice cloud energy equation and an energy equation value is a minimum external calibration parameter through solving. Compared to the prior art, by using the above technical scheme, data returned by the laser radar in real time can be analyzed; a parameter of the laser radar itself can be initiatively corrected so that effects of rapidly correcting the laser radar, increasing scanning data accuracy and increasing a scanning image differentiation degree are reached.

Description

technical field [0001] The invention relates to the technical field of unmanned vehicle navigation, in particular to an automatic calibration method and device for a vehicle-mounted laser radar. Background technique [0002] Due to its superior ranging function and precise measurement performance, lidar sensors have been widely used in industrial and intelligent fields. Due to its ability to detect the surrounding environment, lidar has also become one of the standard configurations of unmanned vehicles in recent years. The main purpose of lidar in the field of unmanned vehicles is to perceive the surrounding environment of the vehicle body. After it cooperates with other systems of the vehicle (such as GPS, INS, etc.), it can be used for map drawing, object positioning (traffic lights and traffic sign detection) ) and road condition detection. Traditional lidar has only one beam of rotating light, so its calibration method is relatively simple. At present, the new genera...

Claims

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Application Information

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IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 潘晨劲赵江宜
Owner FUZHOU HUAYING HEAVY IND MACHINERY
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