Laser radar internal reference and point cloud data correction method and device and storage medium
A technology of point cloud data and laser radar, applied to radio wave measurement systems, instruments, etc., can solve problems such as high cost and inconvenient implementation, achieve accurate results, improve feasibility, and reduce costs
Pending Publication Date: 2020-11-10
NAVINFO
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Problems solved by technology
[0005] The present disclosure provides a correction method, device and storage medium for lidar internal reference and point cloud data, so as to solve the technical problem that the radar calibration method in the prior art is not easy to implement and has high cost
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[0030] Usually unmanned vehicle is provided with radar, for sensing the surroundings, there is provided a data base for the smooth running of the vehicle. In order to reduce the manufacturing cost of the unmanned vehicle, typically set at relatively low cost consumer multi-line laser radar on the vehicle. These multi-lidar due to the structural design, assembly and manufacturing process will cause relative transport of vibration of each point of the line laser emission from the design position, rotation and translation error is generated, resulting in the data of each line scan can not be well laminated together.
[0031] Accordingly, in order to ensure the accuracy of the scanning radar is provided on the vehicle, it is necessary to calibrate the internal parameters of the radar. Then, the way the art radar calibration check of the need to build the field, but also with instruments such as total station, the higher the cost.
[0032] The method provided in the embodiment of the p...
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The invention provides a laser radar internal reference and point cloud data correction method and device and a storage medium. The method comprises the steps: obtaining point cloud data of a specificcurved surface scanned by a multi-line laser radar; determining a second distance difference model between a point in the point cloud data and the specific curved surface according to the point clouddata and the specific curved surface; acquiring single-line laser data in the point cloud data; and determining a correction value corresponding to the single-line laser according to the second distance difference model and the single-line laser data, and correcting the radar internal parameters according to the correction value. According to the scheme provided by the invention, the correction value of the internal parameters of the radar can be determined under the condition that a calibration field does not need to be built and other auxiliary calibration instruments do not need to be matched.
Description
Technical field [0001] The present disclosure relates to calibration of radar technology, and particularly relates to a laser radar internal reference, point cloud data correcting method, device and storage medium. Background technique [0002] With the development of unmanned technology, radar demand is also growing. Unmanned vehicles need to rely on radar aware of their surroundings, to be able to achieve a smooth driving. Therefore, based on radar data acquisition accuracy surroundings, unmanned vehicle on the base. [0003] In the prior art, in order to ensure the accuracy of the radar, the radar needs to calibrate the internal parameter. The main method used is to establish calibration field, labeled targets arranged in a plurality of verification fields, each with a total station measuring three-dimensional coordinates of the target mark, and scan radar checksum field, according to the total station the measurement result calculating internal parameters of the target radar....
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Login to View More IPC IPC(8): G01S7/497
CPCG01S7/497Y02A90/10
Inventor 马力胡伟周勋李永富
Owner NAVINFO