Multi-line laser radar system and horizontal mounting angle correction method thereof

Abstract

The invention relates to a multi-line laser radar system and a horizontal mounting angle correction method thereof. The method comprises steps that the standard calibration environment is set; a multi-line laser radar is arranged in the standard calibration environment, and the standard calibration environment is scanned; angle-distance data generated when each laser line scans the standard calibration environment is acquired; one laser line is taken as a reference channel, other laser lines are taken as correction channels, and cross correlation operation of distance data D1 of the reference channel and distance data Di of each to-be-corrected channel is respectively carried out to acquire a cross correlation curve; an abscissa corresponding to the largest ordinate value of the cross correlation curve is taken as a horizontal offset angle corresponding to the to-be-corrected channel; the horizontal offset angle is utilized to correct a horizontal mounting angle of the corresponding laser. The system is internally provided with a program capable of realizing horizontal angle offset calculation. The system and the method are advantaged in that single parameter correction can be realized, and the system and the method are easy to implement.

Description

technical field [0001] The invention relates to the technical field of laser radar, in particular to a multi-line laser radar system and a correction method for its horizontal installation angle. Background technique [0002] LiDAR is a device that detects objects by emitting laser light and receiving reflected laser light. In order to improve the range and accuracy of lidar detection, multi-line lidar can be used. Multi-line means that the lidar can emit and receive multiple laser beams at the same time, and when performing 360-degree scanning, multiple concentric scanning lines can be obtained. Such as figure 1 As shown, the lidar emits three laser beams S1, S2, and S3 at the same time. The angles between the emission directions of the three laser beams S1 , S2 , and S3 and the vertical direction are different from each other, so that scanning lines with different radii can be formed. [0003] At the same time, if Figure 2a As shown, the three laser beams require the...

AI Technical Summary

Problems solved by technology

[0004] Most of the traditional calibration techniques focus on the overall calibration of the internal factors of the lidar, often cannot optimize the calibration of a single factor, and have high requirements for the scene, and the calibration algorithm used is relatively complicated

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