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Position and posture calibration method, system and medium for lidar and combined inertial navigation

A laser radar and pose calibration technology, applied in the computer field, can solve the problems of difficulty in production, low accuracy, and time-consuming pose calibration, and achieve the effect of improving the scope of application, reducing requirements, and improving efficiency and accuracy.

Pending Publication Date: 2020-01-14
LEISHEN INTELLIGENT SYST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the existing pose calibration methods have requirements for the pose relationship between the lidar and the integrated inertial navigation, and can only perform pose calibration for the lidar and the integrated inertial navigation in a specific pose, and need additional specific The height measurement device is difficult to manufacture; in addition, due to the need to manually adjust the pose parameters repeatedly, the pose calibration takes a long time and has low accuracy

Method used

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  • Position and posture calibration method, system and medium for lidar and combined inertial navigation
  • Position and posture calibration method, system and medium for lidar and combined inertial navigation
  • Position and posture calibration method, system and medium for lidar and combined inertial navigation

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Embodiment 1

[0029] figure 1 It is a flow chart of a pose calibration method for lidar and integrated inertial navigation provided by Embodiment 1 of the present invention. This embodiment is applicable to how to accurately calibrate the relative pose between lidar and integrated inertial navigation. The method can be executed by the control device in the surveying and mapping system of the embodiment of the present invention, and the control device can be realized by software and / or hardware. Such as figure 1 As shown, the method specifically includes the following steps:

[0030] S101. Acquire two point cloud data sets and two inertial navigation data sets collected from the same stationary object by the lidar and the integrated inertial navigation at two collection positions.

[0031] Wherein, the laser radar is a radar system that emits laser beams to detect the position of an object. Optionally, the laser radar in this embodiment may be a multi-line laser radar. Combined inertial n...

Embodiment 2

[0044] figure 2 It is a flow chart of a pose calibration method for laser radar and integrated inertial navigation in Embodiment 2 of the present invention. This embodiment is based on the above-mentioned embodiment, and further optimization is carried out. Specifically, how to Cloud data set, two inertial navigation data sets and multiple sets of reference points, and the specific situation of determining the pose calibration parameters of lidar and integrated inertial navigation. Such as figure 2 As shown, the method of this embodiment specifically includes the following steps:

[0045] S201. Acquire two point cloud data sets and two inertial navigation data sets collected from the same stationary object by the lidar and the integrated inertial navigation at two collection positions.

[0046] Wherein, the laser radar and the combined inertial navigation are rigidly connected.

[0047] S202. Determine multiple sets of reference points according to the visualized images o...

Embodiment 3

[0082] image 3 It is a schematic structural diagram of a pose calibration device for laser radar and integrated inertial navigation provided by Embodiment 3 of the present invention. The device can execute the pose calibration method of laser radar and integrated inertial navigation provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method. Such as image 3 As shown, the device specifically includes:

[0083] The data set acquisition module 301 is used to obtain two point cloud data sets and two inertial navigation data sets collected by the lidar and the integrated inertial navigation on the same stationary object at two collection positions; the lidar and the integrated inertial navigation Rigid connection;

[0084] The reference point determination module 302 is configured to determine multiple sets of reference points according to the visualized images of the two point cloud datasets; w...

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Abstract

The embodiment of the invention discloses a position and posture calibration method, a system and a medium for a lidar and a combined inertial navigation. Wherein, the method includes the steps that:two point cloud data sets and two inertial navigation data sets collected by the lidar and the combined inertial navigation from the same stationary object at two collection positions are obtained; the lidar and the combined inertial navigation are rigidly connected; multiple sets of reference points are determined based on the visualized images of the two point cloud data sets; wherein, each setof reference points are corresponded to the same location on the stationary object on the two point cloud data sets; according to the two point cloud data sets, the two inertial navigation data sets,and the multiple sets of reference points, the position and posture calibration parameters of the lidar and the combined inertial navigation are determined. The technical solution of the invention is not restricted by the position and posture relationship between the lidar and the combined inertial navigation, calibration equipment, and manual work, and can quickly and accurately calibrate the relative position and posture between the lidar and the combined inertial navigation.

Description

technical field [0001] Embodiments of the present invention relate to the field of computer technology, and in particular to a pose calibration method, system, and medium for laser radar and integrated inertial navigation. Background technique [0002] With the development of sensor technology, in the field of outdoor 3D mapping and positioning, the joint use of multi-line lidar and integrated inertial navigation has become an indispensable solution in multi-sensor fusion. The calibration of the relative pose between the two is crucial to the use of the sensor and is directly related to the accuracy of the sensor measurement results. [0003] At present, when performing the pose calibration of lidar and integrated inertial navigation, the method adopted is to obtain the height of the multi-line lidar from the horizontal ground through a specific device, and obtain the central axis and vertical distance of the multi-line lidar through the combined inertial navigation. The in...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01S7/497
CPCG01C25/005G01S7/497
Inventor 胡小波叶华杨业
Owner LEISHEN INTELLIGENT SYST CO LTD
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