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Method and system for obtaining laser radar calibration parameters, laser radar calibration method and system

A calibration parameter and lidar technology, applied in the field of laser sensing, can solve problems such as low sensing accuracy and poor consistency, and achieve the effect of improving sensing accuracy

Active Publication Date: 2017-09-15
SUTENG INNOVATION TECH CO LTD
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Problems solved by technology

[0006] Based on this, it is necessary to provide an acquisition method that can improve the sensing accuracy of multi-line lidar for the problem of low sensing accuracy caused by the poor consistency of the initial installation positions of multiple laser channels in the existing multi-line lidar. Method and system for laser radar calibration parameters, laser radar calibration method and system

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[0041] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0042] It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for purposes ...

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Abstract

The present invention relates to a method and system for obtaining laser radar calibration parameters, a laser radar calibration method and a laser radar calibration system. According to the method and system for obtaining the laser radar calibration parameters, the laser radar calibration method and the laser radar calibration system, matching operation is performed on point cloud information corresponding to selected laser channels and point cloud information corresponding to the other laser channels one by one, so that the translation matrix and rotation matrix of the point cloud information corresponding to each of the other laser channels relative to the point cloud information of the selected laser channels can be obtained; the calibration parameters of each of the other laser channels relative to the selected laser channels can be obtained according to the translation matrix and rotation matrix; the calibration parameters can reflect the translation quantity and rotation quantity of the other selected laser channels relative to the selected laser channels in a multi-line laser radar; and the locations and angles of each of the other laser channels are calibrated relative to the selected laser channels according to the calibration parameters, so that the initial installation locations of a plurality of laser channels in the multi-line laser radar can be always consistent with each other, and thus, the sensing accuracy of the multi-line laser radar can be improved.

Description

technical field [0001] The invention relates to the technical field of laser sensing, in particular to a method and system for acquiring laser radar calibration parameters and laser radar calibration. Background technique [0002] In recent years, with the increasing research and application of mobile robots and unmanned driving, the technology of obstacle recognition and reconstruction of 3D environment has also developed rapidly. At present, there are two main technical paths to realize obstacle recognition and reconstruct the 3D environment: one is the combined sensing scheme of "camera + millimeter wave + ultrasonic"; the other is the use of lidar. [0003] The "camera + millimeter wave + ultrasonic" solution shows strong reliability in different light and weather, but millimeter wave mines are easily affected by light and weather, blinding and relatively low resolution when exposed to strong light . Among the laser radar solutions, two-dimensional laser radar has been...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 邱纯鑫刘乐天
Owner SUTENG INNOVATION TECH CO LTD
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