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Pose calibration method and system for laser radar and combined inertial navigation, and medium

A laser radar and pose calibration technology, applied in the computer field, can solve the problems of high cost, large error, and affecting the accuracy of pose calibration, and achieve the effect of improving accuracy and reducing calibration cost

Active Publication Date: 2020-02-28
LEISHEN INTELLIGENT SYST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, manually measuring and calibrating the relative pose between the lidar and the integrated inertial navigation system is costly and has large errors, which seriously affects the accuracy of pose calibration.

Method used

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  • Pose calibration method and system for laser radar and combined inertial navigation, and medium
  • Pose calibration method and system for laser radar and combined inertial navigation, and medium
  • Pose calibration method and system for laser radar and combined inertial navigation, and medium

Examples

Experimental program
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Effect test

Embodiment 1

[0031] 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. like figure 1 As shown, the method specifically includes the following steps:

[0032] S101. Determine a pair of straight line point cloud data of a target edge line of each stationary object based on the point cloud data sets collected by the lidar at two collection positions for each of the at least three stationary objects.

[0033] 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-...

Embodiment 2

[0052] Figure 2A It is a flowchart of a pose calibration method of a laser radar and an integrated inertial navigation system in Embodiment 2 of the present invention, Figure 2B It is a schematic diagram of the installation orientation of the laser radar according to the embodiment of the present invention. This embodiment is further optimized on the basis of the above embodiments, and specifically gives an introduction of how to obtain the point cloud data set and the inertial navigation data set of each stationary object. like Figure 2A As shown, the method of this embodiment specifically includes the following steps:

[0053] S201. Acquire point cloud data sets and inertial navigation data sets collected from each of the at least three stationary objects at two collection positions by the rigidly connected lidar and integrated inertial navigation.

Embodiment approach

[0055] Possible implementation mode 1. For each of the at least three stationary objects, sequentially acquire the point cloud data set and the inertial navigation data set collected by the rigidly connected lidar and the combined inertial navigation at two collection positions for the stationary object .

[0056] Specifically, in this embodiment, the rigidly connected lidar and combined inertial navigation can only collect point cloud data sets and inertial navigation data sets of a stationary object at one collection position at a time. That is to say, the rigidly connected lidar and combined inertial navigation are performed once for each stationary object in at least three stationary objects, and the point cloud data set and the inertial navigation data set are collected twice at two different collection positions. The data finally collected in this embodiment is to include two sets of point cloud data sets (i.e. the first point cloud data set and the second point cloud da...

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PUM

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Abstract

An embodiment of the invention discloses a pose calibration method and a pose calibration system for laser radar and combined inertial navigation, and a medium. The pose calibration method comprises the steps of: determining a pair of pieces of linear point cloud data of a target edge line of each static object according to a point cloud data set acquired from each static object in at least threestatic objects at two acquisition positions by means of a laser radar, wherein the target edge lines of the at least three static objects are not co-planar; converting the at least three pair of pieces of linear point cloud data into a preset coordination system according to an inertial navigation data set acquired from each static object in the at least three static objects at the two acquisitionpositions by means of combined inertial navigation, wherein the laser radar is rigidly connected with the combined inertial navigation; and determining a pose conversion matrix from the laser radar to the combined inertial navigation according to the at least three pairs of pieces of linear point cloud data converted into the preset coordinate system. According to the pose calibration method andthe pose calibration system, the relative pose between the laser radar and the combined inertial navigation does not need to be manually measured, and the relative pose between the laser radar and thecombined inertial navigation can be rapidly and precisely calibrated.

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, 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 the lidar and the integrated inertial navigation, the method used is to manually measure the angle value and displacement value between the rigidly connected lidar and the integrated inertial navigation, and then realize the integration of the lidar and the integrated inertial navigation system according to the measurement results. Ine...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C25/00G01S17/02G01S7/497
CPCG01C21/165G01C25/00G01S7/4972
Inventor 胡小波杨业
Owner LEISHEN INTELLIGENT SYST CO LTD