External parameter compensation method and device for vehicle-mounted three-dimensional laser sensor

A three-dimensional laser, external parameter technology, applied in the direction of using optical devices, measuring devices, instruments, etc., can solve problems such as sensor external parameter errors, and achieve the effect of improving accuracy and reducing errors

Active Publication Date: 2017-11-24
SAIC MOTOR
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Problems solved by technology

[0005] In view of this, the present invention provides a method and device for extrinsic parameter compensation of a vehicle-mounted three-dimensional laser sensor to solve the problem of errors in the calibrated sensor extrinsic parameters caused by the inconsistency between the actual vehicle body coordinate system and the ground coordinate system during vehicle driving

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  • External parameter compensation method and device for vehicle-mounted three-dimensional laser sensor
  • External parameter compensation method and device for vehicle-mounted three-dimensional laser sensor
  • External parameter compensation method and device for vehicle-mounted three-dimensional laser sensor

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Embodiment Construction

[0065] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0066] Such as figure 1 As shown, the vehicle-mounted 3D laser sensor is usually installed on the upper part of the vehicle, and the inertial measurement unit is arranged inside the vehicle body. The measurement object of the inertial measurement unit is the vehicle body.

[0067] Define the coordinate system as follows:

[0068] Sensor coordinate system oxyz: the origin o is located at the center of the vehicle-mounted 3D laser sensor, and the x, y, and z a...

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Abstract

The invention provides an external parameter compensation method and device for a vehicle-mounted three-dimensional laser sensor. The method comprises the steps that a current external parameter rotation translation matrix is calculated according to current sensor external parameters; when current frame point cloud data sent by the vehicle-mounted three-dimensional laser sensor and current vehicle position and attitude data sent by an inertia measuring unit are received, the current frame point cloud data are transformed from a sensor coordinate system to a vehicle body coordinate system according to the current external parameter rotation translation matrix, and the current frame ground point cloud data are extracted; the current frame ground point cloud data are plane-fitted to determine the current road surface compensation angle; and the current sensor external parameters are compensated according to the current road surface compensation angle and the current vehicle position and attitude data. According to the invention, the single-frame point cloud data and the vehicle position and attitude data are used to compensate the external parameters of the sensor; the external parameter errors of the sensor are reduced, so that the point cloud data transformed into the vehicle body coordinate system are gradually stabilized relative to the ground; and the follow-up environment perception accuracy is improved.

Description

technical field [0001] The invention relates to the technical field of automatic driving, and more specifically, relates to a method and device for compensating external parameters of a vehicle-mounted three-dimensional laser sensor. Background technique [0002] With the continuous development of ADAS (Advanced Driver Assistant System, Advanced Driver Assistance System) technology, self-driving cars are generally equipped with on-board three-dimensional laser sensors to perceive the traffic conditions around the vehicle. [0003] Before using the vehicle-mounted 3D laser sensor, it is necessary to pre-calibrate the external parameters of the sensor. The sensor external parameters include the 3D coordinates, pitch angle, roll angle and yaw angle of the vehicle-mounted 3D laser sensor in the vehicle body coordinate system to determine the sensor coordinates. System transformation to the rotation and translation matrix of the vehicle body coordinate system, thus providing cond...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 李星河孙银建张显宏徐向敏刘奋
Owner SAIC MOTOR
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