Multi-line laser radar calibration method

Abstract

The invention relates to a multi-line laser radar calibration method. The multi-line laser radar calibration method comprises the following steps that two parameters are calibrated by decoupling alpha, beta, delta <z> and gamma, delta <x>, delta <y> respectively; parameters alpha, beta and delta <z> are calibrated by extracting horizontal ground features; and the constraint equations are constructed by rotation matrix v<R> and the translation matrix v<T> provided by GPS, and calibration parameters gamma, delta <x> and delta <y> are solved. According to the multi-line laser radar calibration method, manual measurement of calibration parameters is not required, special calibrated objects are not required, operation is convenient, and calibration efficiency is high. Calibration accuracy can be improved by using flatland features and high precision GPS information.

Description

technical field [0001] The invention relates to the technical field of laser radar, in particular to a multi-line laser radar calibration method. Background technique [0002] In recent years, with the rapid development of intelligent driving technology, lidar has the characteristics of high precision, large ranging range, and not being affected by light, and is widely used in obstacle detection, real-time positioning and map construction of intelligent driving vehicles. perception field. [0003] In the intelligent driving system, the lidar is generally installed on the top of the intelligent driving vehicle, and the position data information obtained by the lidar is based on the local coordinate system of the radar itself. In the actual use of lidar, in order to unify the information of multiple sensors, it is necessary to convert the data in the local coordinate system acquired by the lidar to the car body coordinate system. During the data conversion process, the point...

AI Technical Summary

Problems solved by technology

[0007] Although the principle of manual measurement and calibration method is simple, it has high requirements on the fineness of the operator's operation and the accuracy of the measuring instrument, so its generalizability is not high, and the measurement accuracy is unstable, which will vary with the level of the operator

The measurement method of the calibration object also has certain disadvantages. Since the reflectivity of the laser radar is different for objects of different colors and materials, it is difficult to find the control points. Rely on parameters between other sensors and control points, so this type of calibration method is inefficient and inaccurate

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