Calibration method and device for single-line laser radar and multi-line laser radar

A single-line laser radar and multi-line laser technology, applied in the field of data processing, can solve the problems of no solution and large calibration result error, and achieve the effect of improving the accuracy and solving the large error
CN111103576AActive Publication Date: 2020-05-05盛景智能科技嘉兴有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
盛景智能科技嘉兴有限公司
Publication Date
2020-05-05

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Abstract

The invention provides a calibration method and device for single-line laser radar and a multi-line laser radar, and relates to the technical field of data processing, and the method comprises the steps: obtaining a three-dimensional point cloud image, transmitted by the multi-line laser radar, of a target region; obtaining homogeneous coordinates of a fixed point in the target region sent by thesingle-line laser radar, the homogeneous coordinates being coordinate information obtained by scanning the fixed point by the single-line laser radar; determining the scanning pose of the multi-line laser radar in combination with a three-dimensional point cloud chart, the scanning pose being a scanning pose of the multi-line laser radar when the single-line laser radar scans the fixed point; constructing an overdetermined equation set based on the scanning pose and the homogeneous coordinates; and based on the overdetermined equation set, calculating the calibration results of the single-linelaser radar and the multi-line laser radar. The technical problem that in the prior art, errors of the calibration results of the single-line laser radar and the multi-line laser radar are large is solved.
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Description

technical field

[0001] The invention relates to the technical field of data processing, in particular to a calibration method and device for a single-line laser radar and a multi-line laser radar. Background technique

[0002] Sensors such as cameras, lidars, and millimeter-wave radars all have their own coordinate systems, that is, the data generated by all sensors is based on the sensor's own coordinate system. However, on a carrier (for example: a three-dimensional data acquisition cart), many sensors will be installed on the car. In order to facilitate algorithm research and testing, it is necessary to convert the data obtained by each sensor into a certain inherent coordinate system, that is, the base coordinate system. , then this process is called extrinsic calibration of the sensor.

[0003] However, there are not many methods for extrinsic calibration of single-line lidar and multi-line lidar in the prior art. Generally, third-party sensors are needed for auxiliary...

Claims

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