Multi-laser radar position calibration method and device

Abstract

The invention provides a multi-laser radar position calibration method and a multi-laser radar position calibration device. The multi-laser radar position calibration method comprises the steps of: acquiring first point cloud data and second point cloud data; screening the first point cloud data to obtain a first point cloud subset, and screening the second point cloud data to obtain a second point cloud subset; estimating a first plane normal vector n1 according to the first point cloud subset, estimating a second plane normal vector n2 according to the second point cloud subset, and constructing a first equation: C*n1=n2; changing a position of a calibration object, repeatedly executing the change for m times to obtain m groups of the first equation; solving the m groups of the first equation to obtain a rotation matrix C; acquiring a translation vector T between two radars; and regarding the acquired rotation matrix C and the translation vector T as initial values, performing pointcloud matching on m groups of first point cloud subsets obtained in m acquisitions to obtain m groups of C1, performing point cloud matching on m groups of second point cloud subsets obtained in m acquisitions to obtain m groups of T1, and regarding the C1 and T1 with the highest scores in the m groups as final results. The multi-laser radar position calibration method and device can accelerate the calibration process of the positional relationship of multiple laser radars, and obtain the calibration results with higher precision.

Description

technical field [0001] The invention relates to the technical field of laser radars, in particular to a multi-laser radar position calibration method and device. Background technique [0002] LiDAR has been widely used due to its advantages of high precision, large amount of data, and acquisition frequency. In the field of unmanned driving or assisted driving, lidar is an important sensor choice. The vehicle system uses lidar to build a map of the environment, identify road information, and avoid obstacles in real time. In the field of unmanned driving or assisted driving, one idea is to embed multiple multi-line lidars around the body. In this scheme, lidar generally does not scan at all angles, but has a certain scanning range (90 degrees or 180 degrees). The scanning fields of view between adjacent lidars overlap to a certain extent. In this application scheme, establishing the numerical relationship between point cloud data collected by different lidars requires accu...

AI Technical Summary

Problems solved by technology

However, in general, it is difficult for us to ensure that different lidars scan the same position of the target, especially when the point cloud on the target is relatively sparse

Another way of thinking is to use the lidar-camera joint calibration method of the visual sensor, that is, to use the visual sensor to obtain the precise point coordinates of a point on the target. This method has a large workload and limited accuracy.

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