System and method for demarcating external parameters of multi-laser-radar

A technology of laser radar and external parameters, applied to radio wave measurement systems, instruments, etc., can solve problems such as insufficient accuracy and complicated operation

Active Publication Date: 2019-04-05
INST OF COMPUTING TECH CHINESE ACAD OF SCI
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Problems solved by technology

[0005] The purpose of the present invention is to provide a system and method for calibrating the external parameters of multiple laser radars, which are used to solve the problems of complicated operation and insufficient precision in the prior art

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  • System and method for demarcating external parameters of multi-laser-radar

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Embodiment Construction

[0066] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments to further understand the purpose, solution and effect of the present invention, but it is not intended to limit the scope of protection of the appended claims of the present invention.

[0067] Such as figure 1 Shown is a frame diagram of the system for calibrating the external parameters of multiple lidars of the present invention.

[0068] The calibration system 100 includes: a data acquisition module 101 , a coordinate transformation module 102 , and a coordinate transformation integration module 103 .

[0069] The system 10 to be calibrated is a system composed of several laser radars 11 , that is, a multi-laser radar system with two or more laser radars 11 fixed on required application equipment.

[0070] The calibration system 100 can obtain the spatial position relationship among the laser radars 11 , that is, ...

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Abstract

The invention discloses a system and method for demarcating external parameters of multi-laser-radar. The system comprises a data collecting module, a coordinate varying module and a coordinate varying integrating module; the data collecting module is used for scanning a demarcating plate through laser radars in a to-be-demarcated system and obtaining scanning results of the laser radars towards the demarcating plate; the coordinate varying module is used for calculating coordinate varying relationships between laser radar coordinate systems and a demarcating plate coordinate system accordingto the scanning results and calculating coordinate changing relationships between two random laser radar coordinate systems according to the coordinate varying relationships; and the coordinate varying integrating module is used for integrating the obtained coordinate changing relationships between the two random laser radar coordinate systems and obtaining the external parameters of the to-be-demarcated system. According to the system for demarcating the external parameters of the multi-laser-radar, a space demarcating point is easy to obtain, and the solving process is easy and rapid.

Description

technical field [0001] The invention relates to the field of laser radar sensor calibration, in particular to a system and method for calibrating external parameters of multiple laser radars. Background technique [0002] Lidar, that is, a radar system that detects the position, speed and other characteristic quantities of a target by emitting a laser beam. Its working principle is to send a detection signal to the target, that is, a laser beam, and then compare the received signal reflected from the target, that is, the target echo, with the transmitted signal, and after proper processing, the relevant information of the target can be obtained. For example, parameters such as target distance, azimuth, height, speed, attitude, and even shape. LiDAR itself has very precise ranging capabilities and can achieve extremely high angle, distance and velocity resolution. [0003] In the lidar navigation system, the surrounding environment can be obtained through the lidar. Howeve...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 刘世策胡瑜
Owner INST OF COMPUTING TECH CHINESE ACAD OF SCI
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