Two-dimensional laser ranging device positioning method based on cuboid calibration objects

Abstract

The invention discloses a two-dimensional laser ranging device positioning method based on cuboid calibration objects, and relates to the technical field of laser ranging. The method mainly comprisesthe following steps that a manufactured calibration object is put at the lateral lower side of an emitter of the laser ranging device; the emitter rotates in a scanning surface and emits laser to thecalibration object; the laser is reflected by the calibration object and is then received by the laser ranging device; a tested point on the surface of the calibration object is obtained; the tested point is fit to obtain four straight line sections; a conversion matrix between a calibration object coordinate system and a ranging instrument coordinate system is determined according to the straightline section; and the conversion relationship between the calibration object coordinate system and the ranging instrument coordinate system is determined according to a conversion equation. Accordingto the method, only three cuboid calibration objects need to be used; the height of only one calibration object in the three cuboid calibration objects needs to be known; and after a group of outlinedata is obtained, the position of the ranging device can be obtained through the clear calculation in the subsequent steps. The calibration objects can be easily manufactured; the calculation methodis easy to realize; and the practicability is very high.

Description

technical field [0001] The invention relates to the technical field of laser ranging, in particular to a positioning method for a two-dimensional laser rangefinder based on a cuboid calibration object. Background technique [0002] The laser rangefinder measures the distance between the light source and the irradiated point by emitting laser light, and is divided into one-dimensional, two-dimensional and three-dimensional categories according to the direction of emission. Among them, the two-dimensional laser rangefinder continuously emits laser pulses at multiple angles in a plane to obtain a set of distance data, which represents a surface contour line of the scanned object (scene). Due to its moderate price, it is widely used in contour measurement , area monitoring and positioning. [0003] The laser emitted by the rangefinder is divided into two types, visible light and invisible light. The invisible light has no obvious visual characteristics, so the traditional image...

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Problems solved by technology

[0003] The laser emitted by the rangefinder is divided into two types, visible light and invisible light. The invisible light has no obvious visual characteristics, so the traditional image-based method cannot be used to calibrate the rangefinder; In the surrounding scene, but the amount of data is relatively small, if the shape of the scene cannot be determined in advance, it will bring great difficulties to calibrate the rangefinder

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