Laser radar calibration method and device, equipment and memory medium

A laser radar, a technology to be calibrated, applied in the computer field, and can solve the problems of low efficiency of laser radar calibration

Active Publication Date: 2019-06-18
WERIDE CORP
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  • Description
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  • Application Information

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Problems solved by technology

[0005] Based on this, it is necessary to provide a laser radar calibration method, device, equipment and storage medium for the problem of low efficiency of laser radar calibration

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  • Laser radar calibration method and device, equipment and memory medium
  • Laser radar calibration method and device, equipment and memory medium
  • Laser radar calibration method and device, equipment and memory medium

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Embodiment Construction

[0050] With the development of unmanned driving technology, on-board sensors are often used to obtain location information around the vehicle, and then plan, make decisions, or control autonomous vehicles based on the information detected by the sensors. Typically, in-vehicle sensors use multiple sensors to obtain location information around the vehicle. However, there are certain differences between the relative poses (including relative positions and orientations) of multiple sensors. It is necessary to calibrate the relative poses of multiple sensors so that the location information around the vehicle collected by multiple sensors is unified. To the same coordinate system, and then according to the position information in the same coordinate system, plan, make decisions or control the self-driving vehicle. The above calibration process refers to the process of obtaining relative positions between multiple sensors. The laser radar calibration method, device, equipment and s...

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Abstract

The invention relates to a laser radar calibration method and device, equipment and a memory medium. In a preset calibration scene, a terminal obtains point cloud data of a to-be-calibrated laser radar and data of an inertial navigation system, obtains map data corresponding to the calibration scene, further obtains a position conversion relationship through utilization of a calibration algorithmaccording to the point cloud data of the to-be-calibrated laser radar, the data of the inertial navigation system and the map data, and further determines a calibration result of the laser radar according to the position conversion relationship. According to the method, the device, the equipment and the memory medium, the terminal automatically obtains the position conversion relationship of the laser radar and the inertial navigation system through utilization of the calibration algorithm according to the point cloud data of the to-be-calibrated laser radar, the data of the inertial navigation system and the map data and further determines the calibration result according to the position conversion relationship. The obtained calibration result of the laser radar is automatically obtainedthrough utilization of the calibration algorithm, a process of carrying out manual measurement to obtain the calibration result of the laser radar is avoided, and further calibration efficiency of thelaser radar is improved.

Description

technical field [0001] The present invention relates to the field of computer technology, in particular to a laser radar calibration method, device, equipment and storage medium. Background technique [0002] With the development of unmanned driving technology, on-board sensors are often used to obtain location information around the vehicle, and then plan, make decisions, or control autonomous vehicles based on the information detected by the sensors. [0003] Typically, in-vehicle sensors use multiple sensors to obtain location information around the vehicle. However, there are certain differences between the relative poses (including relative positions and orientations) of multiple sensors. It is necessary to calibrate the relative poses of multiple sensors so that the location information around the vehicle collected by multiple sensors is unified. To the same coordinate system, and then according to the position information in the same coordinate system, plan, make dec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/497G01S17/93G01S17/42
CPCY02A90/10
Inventor 冯荻雷宇苍杜杭肯
Owner WERIDE CORP
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