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Calibration method and device of laser radars and electronic equipment

A technology of laser radar and calibration method, which is applied in the computer field, can solve problems such as the inconvenience of laser radar calibration processing, and achieve the effect of improving convenience and realizing static calibration

Active Publication Date: 2019-10-15
CAINIAO SMART LOGISTICS HLDG LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the prior art, the calibration of lidar generally adopts a dynamic calibration method, that is, the lidar or the calibration reference object needs to be moved, which is extremely inconvenient for the calibration of lidar

Method used

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  • Calibration method and device of laser radars and electronic equipment
  • Calibration method and device of laser radars and electronic equipment
  • Calibration method and device of laser radars and electronic equipment

Examples

Experimental program
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Embodiment 1

[0027] like figure 1 As shown, it is a schematic flowchart of a calibration method of a laser radar according to an embodiment of the present invention, and the calibration method of the laser radar mainly includes:

[0028] S101: Acquire first point cloud data and second point cloud data obtained by respectively measuring the fixture by the first laser radar and the second laser radar. Wherein, the first point cloud data and the second point cloud data here are both based on the respective coordinate systems of the first lidar and the second lidar. The jig mentioned here is used as a calibration reference, and the jig can include multiple planes to form multiple calibration measurement datums. For the situation where it is desired to calibrate the positional relationship between the rotation and translation of the two lidars, the jig may include at least three jigs that form a preset angle with each other, and the preset angle is preferably perpendicular to each other. In a...

Embodiment 2

[0053] like image 3 As shown, it is a schematic structural diagram of a lidar calibration device according to an embodiment of the present invention. The device includes a point cloud data acquisition module 11 , a plane fitting module 12 and a position calibration relationship processing module 13 .

[0054] The point cloud data acquiring module 11 is configured to acquire the first point cloud data and the second point cloud data respectively obtained by measuring the fixture with the first laser radar and the second laser radar. Wherein, there are multiple jigs arranged around the first laser radar and the second laser radar.

[0055] The plane fitting module 12 is configured to respectively fit a plurality of first reference planes and second reference planes of the jig according to the first point cloud data and the second point cloud data.

[0056] The position calibration relationship processing module 13 is configured to determine the position of the rotation and / or ...

Embodiment 3

[0060] The previous embodiment described the flow process of the laser radar calibration method and the structure of the calibration device. The functions of the above-mentioned method and device can be completed by means of an electronic device, such as Figure 4 As shown in , it is a schematic structural diagram of an electronic device according to an embodiment of the present invention, specifically including: a memory 110 and a processor 120 .

[0061] The memory 110 is used for storing programs.

[0062] In addition to the above programs, the memory 110 may also be configured to store other various data to support operations on the electronic device. Examples of such data include instructions for any application or method operating on the electronic device, contact data, phonebook data, messages, pictures, videos, etc.

[0063] The memory 110 can be implemented by any type of volatile or non-volatile storage device or their combination, such as static random access memor...

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PUM

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Abstract

The embodiment of the invention provides a calibration method and device of laser radars and electronic equipment. The method comprises the steps that first point cloud data and second point cloud data, which are obtained after the first laser radar and the second laser radar perform respective measurement on a jig, are acquired; multiple first reference planes and second reference planes of the jig are fitted respectively according to the first point cloud data and the second point cloud data; and according to the distance from multiple points on the multiple first reference planes to the corresponding second reference planes, a rotation and / or translation position calibration relation between the first laser radar and the second laser radar is determined. According to the embodiment, thejig with the multiple planes is utilized to calibrate the relative position relation between the two laser radars, the relative position relation is determined according to the distance from the points on the planes measured by one laser radar to the planes measured by the other laser radar, therefore, static calibration of the laser radars is realized, and the convenience of calibration is improved.

Description

technical field [0001] The present application relates to a laser radar calibration method, device and electronic equipment, and belongs to the field of computer technology. Background technique [0002] As a distance measurement device, LiDAR can measure the distance from objects in the environment to the laser itself in real time, and is an indispensable sensor in the field of unmanned driving. In view of more and more devices or systems, multiple lidars with relatively fixed positions are used at the same time, and each lidar has its own coordinate system, that is, the position data measured by each lidar is based on its own coordinates. Department. In order to unify the position data of multiple lidars, it is necessary to calibrate the relative positional relationship between each lidar, so that the measurement data of multiple lidars can be comprehensively utilized. For the calibration of lidar in the prior art, a dynamic calibration method is generally adopted, that ...

Claims

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Application Information

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IPC IPC(8): G01S7/497
CPCG01S7/497Y02A90/10
Inventor 孙孟孟林巧曹丹
Owner CAINIAO SMART LOGISTICS HLDG LTD