Calibration method and device for laser coordinate system and inertial navigation coordinate system and storage medium
A coordinate system and laser technology, applied in geographic information databases, structured data retrieval, etc., can solve problems such as many restrictions
Active Publication Date: 2020-03-24
ALIBABA (CHINA) CO LTD
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However, this method requires a large number of iterations to calculate the global optimal solution, and requires the presence of planar feature structures in the calibration site
At the same time, the equipment to be calibrated needs to move according to a certain running track, which has many restrictions.
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[0042] The embodiments of the present application will be described in detail below with reference to the drawings. It should be noted that the following description is only exemplary, and is not intended to limit the application. In addition, in the following description, the same reference numerals will be used to denote the same or similar components in different drawings. Different features in different embodiments described below can be combined with each other to form other embodiments within the scope of the present application.
[0043] In order to solve the problems in the prior art, this application provides a calibration method for the laser coordinate system and the inertial navigation coordinate system in a vehicle for collecting point cloud data. Through this method, the laser point cloud data collected by the laser point cloud data acquisition device on the vehicle can be used to perform a series of processing on the relative transformation between the laser coord...
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The invention provides a calibration method and device for a laser coordinate system and an inertial navigation coordinate system in a vehicle for collecting point cloud data and a non-instantaneous computer readable storage medium. The method comprises: controlling the vehicle to move on a road surface, and collecting point cloud data in the moving process of the vehicle; constructing an inertialnavigation coordinate system according to the movement of the vehicle and the acquired point cloud data; defining a unit matrix in the inertial navigation coordinate system according to a coordinateaxis in the inertial navigation coordinate system; obtaining an axis matrix in the laser coordinate system corresponding to the unit matrix of the inertial navigation coordinate system based on the collected point cloud data; and calculating the attitude angle between the laser coordinate system and the inertial navigation coordinate system according to the corresponding relationship between the unit matrix and the axis matrix.
Description
Technical field [0001] This application relates to the technical field of computer map data processing, and in particular to a calibration method and device for a laser coordinate system and an inertial navigation coordinate system in a vehicle for collecting point cloud data, and a non-transient computer-readable storage medium. Background technique [0002] For autonomous driving technology, high-precision maps need to be constructed. In order to construct a high-precision map, 3D point cloud data of relevant road scenes in the map is required. Usually, a professional point cloud data acquisition vehicle is used to collect point cloud data of road scenes. [0003] During the operation of the point cloud data acquisition vehicle, each frame of laser point cloud data collected by the lidar is converted to the vehicle coordinate system (ie, the laser coordinate system is converted to the inertial navigation coordinate system). For the relative position transformation calibration o...
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IPC IPC(8): G06F16/29
Inventor 林宝尉张硕
Owner ALIBABA (CHINA) CO LTD