Method for quickly calibrating external parameters of multi-line laser radar based on orthogonal normal vector
A multi-line laser and calibration method technology, which is applied in the field of driverless car environment perception, can solve the problem of inconvenient use of multi-line laser radar on the vehicle, and achieve the effect of reducing hardware requirements, high precision and high precision
Active Publication Date: 2019-02-22
NAT INNOVATION INST OF DEFENSE TECH PLA ACAD OF MILITARY SCI
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[0005] Existing multi-line laser radar calibration methods require special calibration devices or special markers to cooperate with the calibration, and specific calibration scenarios are required to place calibration devices or markers. inconvenient to use
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[0020] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0021] as attached figure 2 As shown, when the multi-line lidar to be calibrated is installed on an unmanned vehicle platform at a certain angle according to the field of view or task requirements, combined with figure 1 , the steps of a fast calibration method for multi-line lidar external parameters based on orthogonal normal vectors proposed by the present invention are as follows:
[0022] (1) Find a scene with three mutually perpendicular planes that can be seen everywhere indoors or outdoors, such as an empty room, indoor garage, outdoor roadside corners, steps, etc.;
[0023] (2) Park the vehicle facing one of the planes, and at the same time, ensure that the multiple lines of the multi-line lidar can illuminate the three planes used for calibration. The wider the irradiation range, the better the effect;
[0024] (3) From t...
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The invention discloses a method for quickly calibrating an external parameter of a multi-line laser radar based on an orthogonal normal vector, and mainly relates to the technical field of unmanned vehicle environmental sensing. The method comprises a step of selecting a scene with a flat ground and a corner, a step of parking an unmanned vehicle equipped with the multi-line laser radar to face one of walls, a step of selecting radar data point sets illuminated on three surfaces and marking the three radar data point sets as P1, P2 and P3, a step of calculating each of the data point sets andobtaining normal vectors I1, I2 and I3 of the point sets, a step of calculating normal vector sets W1, W2 and W3 of the wall surfaces corresponding to the data point sets in a vehicle body coordinatesystem, a step of marking NI= [I1, I2, I3] and NW= [W1, W2, W3], and a step of performing singular value decomposition on H to obtain a rotation matrix R. According to the method, special calibrationequipment and a strict calibration scene are not needed, and the method has the advantages of simple principle, convenient operation and high calibration precision.
Description
technical field [0001] The present invention mainly relates to the technical field of unmanned vehicle environment perception, specifically a method for fast calibration of external parameters of multi-line laser radar based on orthogonal normal vectors. Background technique [0002] Multi-line laser radar is an important sensor equipped with unmanned vehicles. It undertakes important tasks such as road detection, positive and negative obstacle recognition, real-time positioning and mapping during the automatic driving process. It has fast measurement speed, high precision and measurement accuracy. It has been widely used in the field of unmanned driving because of its advantages such as long distance. [0003] In practical applications, in order to achieve better environmental perception, or based on some special application requirements, multi-line lidars are often installed at a certain angle. Therefore, the external parameter calibration of multi-line laser radar is to ...
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IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 商尔科聂一鸣朱琪肖良戴斌张巍刘帅
Owner NAT INNOVATION INST OF DEFENSE TECH PLA ACAD OF MILITARY SCI