Vehicle-mounted laser scanning system external parameter calibration method and device

Abstract

The invention provides a vehicle-mounted laser scanning system external parameter calibration method and device, and the method comprises the steps: carrying out the data collection in a selected calibration scene according to a preset multi-direction collection route; calculating an external parameter initial value by using a hand-eye calibration method based on the acquired data; splicing the point clouds at different positions acquired by the laser radar according to an iterative nearest point algorithm by combining the pose information of the inertial navigation system and combining the calculated external parameter initial values, and calculating a matching distance residual error; optimizing an external parameter by adopting a nonlinear optimization algorithm, updating an initial value of the external parameter by using the optimized external parameter, recalculating a matching distance residual error, and carrying out repeated iterative computation; and taking the external parameter as a calibration external parameter until the matching distance residual error is smaller than a preset threshold value or the number of iterations reaches the maximum number of iterations. According to the method, accurate calibration of the external parameters of the vehicle-mounted laser scanning system is rapidly and automatically realized without a fixed calibration field and artificialparticipation in point selection.

Description

technical field [0001] The invention relates to the technical field of data processing, in particular to a method and device for calibrating external parameters of a vehicle-mounted laser scanning system. Background technique [0002] Vehicle-mounted laser scanning technology can obtain urban 3D geographic data with high efficiency, high precision, and low cost, and is one of the most advanced means of obtaining 3D geographic data. Accurate external parameter calibration of the vehicle-mounted laser scanning system is a prerequisite for obtaining high-precision vehicle-mounted laser point clouds. [0003] At present, the external parameter calibration technology mainly includes the following technologies: [0004] The first method: establish a three-dimensional calibration field based on the control points, manually select the corresponding feature points of the control points in the LIDAR local coordinate system to form corresponding point pairs, and then list the normal e...

AI Technical Summary

Problems solved by technology

However, it is still necessary to manually select the same unified feature point pair in the data of different measurements, and the manual point selection process still slows down the calibration progress, resulting in low efficiency

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