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Method and apparatus for measuring angular resolution of multi-line lidar

A multi-line laser and angular resolution technology, which is applied in the field of laser radar and multi-line laser radar, can solve the problems of high cost and unreliable angular resolution parameters.

Active Publication Date: 2021-04-23
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, the angular resolution parameters provided by equipment manufacturers are not reliable, and the measurement method of the dot matrix method is restricted by the arrangement of the receivers, and the cost is relatively high

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  • Method and apparatus for measuring angular resolution of multi-line lidar
  • Method and apparatus for measuring angular resolution of multi-line lidar
  • Method and apparatus for measuring angular resolution of multi-line lidar

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Embodiment Construction

[0025] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0026] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0027] figure 1 An exemplary system architecture 100 is shown to which embodiments of the method for measuring the angular resolution of a multi-line lidar or the apparatus for measuring the angular resolution of a multi-line lidar of the present application can be applied. ...

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Abstract

The present application discloses a method and apparatus for measuring the angular resolution of a multi-line lidar. A specific embodiment of the method includes: when acquiring a multi-line laser radar to scan a checkerboard calibration board, using a camera to take a picture of a checkerboard calibration board; Shape and length information, determine the physical length represented by the unit pixel of the picture; determine the central spot and spot pair in the picture; determine each of the spot pairs according to the physical length represented by the unit pixel, the determined central spot and the spot pair The angle between the laser beam corresponding to the spot and the laser beam corresponding to the center spot; according to the angle between the laser beam corresponding to each spot in the determined spot pair and the laser beam corresponding to the center spot, determine the multi-line laser radar angular resolution. This embodiment realizes the low-cost measurement of the angular resolution of the multi-line laser radar, and improves the reliability of the angular resolution parameter.

Description

technical field [0001] The present application relates to the technical field of laser radar, in particular to the technical field of multi-line laser radar, and in particular to a method and device for measuring the angular resolution of multi-line laser radar. Background technique [0002] LiDAR, as the eyes of autonomous vehicles, plays a vital role in autonomous vehicles. The working principle of lidar is that the laser transmitter sends a detection signal (laser beam) to the target, and then the laser receiver receives the signal reflected from the target (target echo), and then compares the received signal with the emitted signal. After comparison, after proper processing, the relevant information of the target can be obtained, such as parameters such as distance, orientation, height, speed, attitude, and even shape, so as to detect, track and identify the target. In order to achieve better detection results, multi-line lidars including more than one laser transmitter...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S7/497G01S17/86G01S17/89
CPCG01S7/497G01S17/89G01S17/86G01B11/26
Inventor 石庭敏李冲冲姜媛王超
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD