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
View PDF6 Cites 17 Cited by
  • 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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • 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

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0028] Example one

[0029] figure 1 This is a flowchart of a method for calibrating the pose of lidar and combined inertial navigation provided by the first embodiment of the present invention. This embodiment is suitable for how to accurately calibrate the relative pose between lidar and combined inertial navigation. The method may be executed by the control device in the surveying and mapping system of the embodiment of the present invention, and the control device may be implemented 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 by lidar and combined inertial navigation on the same stationary object at two collection positions.

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

Example Embodiment

[0043] Example two

[0044] figure 2 This is a flowchart of a lidar and combined inertial navigation pose calibration method in the second embodiment of the present invention. This embodiment is based on the above-mentioned embodiment, and further optimization is performed. It specifically shows how to calculate the The cloud data set, two inertial navigation data sets and multiple sets of reference points are introduced to determine the specific situation of the Lidar and combined inertial navigation calibration parameters. 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 by the lidar and the combined inertial navigation on the same stationary object at two collection positions.

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

[0047] S202: Determine multiple sets of reference points according to...

Example Embodiment

[0081] Example three

[0082] image 3 This is a schematic structural diagram of a lidar and combined inertial navigation pose calibration device provided in the third embodiment of the present invention. The device can execute the position and orientation calibration method of lidar and combined inertial navigation provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method. Such as image 3 As shown, the device specifically includes:

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

[0084] The reference point determination module 302 is configured to determine multiple sets of reference points according to the visual images of the two point ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G01C25/00G01S7/497
CPCG01C25/005G01S7/497
Inventor 胡小波叶华杨业
Owner LEISHEN INTELLIGENT SYST CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap