Vehicle-mounted three-dimensional laser radar calibration method and system

A technology of three-dimensional laser and calibration method, which is applied in the direction of radio wave measurement systems, instruments, etc., can solve problems such as lack of accuracy, and achieve the effect of improving calibration accuracy, reducing burden, and widely distributed

Active Publication Date: 2019-04-30
PEKING UNIV
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Problems solved by technology

In practical applications, the calibration of 3D lidar and car body coordi

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  • Vehicle-mounted three-dimensional laser radar calibration method and system
  • Vehicle-mounted three-dimensional laser radar calibration method and system
  • Vehicle-mounted three-dimensional laser radar calibration method and system

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Embodiment Construction

[0059] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0060] Those skilled in the art will understand that unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the word "comprising" used in the description of the present invention refers to the presence of said features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, Integers, steps, operations, elements, components, and / or groups thereof. It will be understoo...

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Abstract

The embodiment of the invention provides a vehicle-mounted three-dimensional laser radar calibration method and system. The calibration method does not depend on special facilities, uses the road surface as a reference plane, and solves external calibration parameters of one or more three-dimensional laser radars relative to a vehicle body coordinate system by using the characteristics of the natural environment, thereby being capable of greatly improving the accuracy of the calibration parameters, and providing a basis for data fusion processing of a multi-mode sensor. The vehicle-mounted three-dimensional laser radar system comprises a main laser radar installed on the top of the vehicle and zero to multiple auxiliary laser radars installed on other parts of the vehicle.

Description

technical field [0001] The invention relates to the technical field of three-dimensional laser radar, in particular to a vehicle-mounted three-dimensional laser radar calibration method and system. Background technique [0002] With the rapid development of autonomous driving technology, 3D lidar, as a main perception device, is widely used in autonomous driving systems, and has important application requirements in the fields of transportation, national defense and security. 3D lidar provides important sensor data input for modules such as road surface extraction, obstacle detection and tracking, map creation, and high-precision positioning. The processing results are used to implement reasonable navigation planning and vehicle control to complete autonomous driving tasks. [0003] At present, the mainstream autonomous driving prototype system at home and abroad uses a 32-line, 40-line or 64-line 3D lidar installed on the top of the vehicle, and some systems are combined to...

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Application Information

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IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 鞠孝亮赵卉菁
Owner PEKING UNIV
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