Calibration device and method of multi-line laser radar

A calibration device and multi-line laser technology, applied in the field of intelligent vehicle environmental perception, can solve the problems of cumbersome calibration process, difficulty in determining the actual position coordinates of laser scanning points, and complex discrete and complex scanning trajectory shapes, and achieve the effect of improving accuracy and efficiency.

Active Publication Date: 2018-04-03
JILIN UNIV
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Problems solved by technology

[0003] The invention is a convenient and efficient calibration device and method for a rotary 64-line laser radar, which can accurately calibrate the three-dimensional coordinates of the scanning point at the same time; it

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  • Calibration device and method of multi-line laser radar
  • Calibration device and method of multi-line laser radar
  • Calibration device and method of multi-line laser radar

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[0043] The calibration principle of lidar:

[0044] Because the lidar 1 and the vehicle 4 are fixed together, the radar coordinate system and the vehicle coordinate system respectively fixed on the two have a certain relative position relationship. The calibration process is to find a suitable coordinate conversion matrix T, so that the three-dimensional coordinates of the object output by the lidar in the radar coordinate system can be converted into the three-dimensional coordinates in the vehicle coordinate system for the upper module of the smart car to call. The calibration process is divided into three steps: obtaining the radar coordinate system data output by the radar, obtaining the actual position data of the calibration point, and solving the calibration matrix.

[0045] The working principle of the calibration device to obtain the calibration point data:

[0046] In the past, when a vertical thin rod perpendicular to the horizontal ground was used for calibration, since ...

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Abstract

The invention belongs to the intelligent vehicle environment perception technology field and especially relates to a calibration device and a method of a multi-line laser radar. The device comprises acalibration plate, a calibration rod, a rotating disk, a spring lock mechanism, an end cap, a bearing, a ball and a pedestal. The calibration plate is clamped on an upper end of the calibration rod.A lower end of the calibration rod is connected to the rotating disk in a threaded connection mode. The rotating disk is clamped in a ring groove of the pedestal and is fixedly arranged with the pedestal through the spring lock mechanism. The bearing is arranged between the pedestal and a bearing hole of the rotating disk and forms interference fit with the rotating disk. The end cap is arranged on the rotating disk and is fixedly arranged at a center shaft of the pedestal through a bolt. A pad is arranged between the bolt and the end cap. The invention discloses the convenient and high-efficient calibration device and the method aiming at a rotation-type 64-line laser radar. Three-dimensional coordinates of scanning points can be simultaneously and accurately calibrated. By using an existing laser radar, an actual position coordinate of each laser scanning point is difficult to be determined, a scanning track shape is discrete and complex and a calibration process is tedious. In the invention, the above problems are solved.

Description

technical field [0001] The invention belongs to the technical field of intelligent vehicle environment perception, and specifically relates to a calibration device and method for a rotary 64-line multi-line laser radar. Background technique [0002] As an important part of the environment perception hardware system of smart cars, lidar undertakes important tasks such as road edge detection, obstacle recognition and real-time localization and mapping (SLAM) in automatic driving. Due to the advantages of fast measurement speed, high precision and long distance measurement, lidar has been widely used in smart cars. In practical applications, whether the calibration of lidar is accurate will have a major impact on the perception, positioning and upper-level decision-making planning of smart cars. Therefore, it is necessary to design a reasonable scheme to accurately and reliably calibrate the 3D lidar. Usually, the laser radar uses a near-infrared laser with a wavelength of ab...

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Application Information

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IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 朱冰刘帅赵健韩嘉懿武维祥
Owner JILIN UNIV
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