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Detection method and related device of lidar and inertial measurement unit

A technology of inertial measurement unit and laser radar, which is applied in the direction of measuring device, radio wave measurement system, and navigation through speed/acceleration measurement, can solve the problems of low detection efficiency, cumbersome detection process, and poor versatility of detection methods, and achieve easy Expansion, the detection process is simple, and the effect of automatic detection is realized

Active Publication Date: 2021-06-15
GUANGZHOU WERIDE TECH LTD CO
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The embodiment of the present invention proposes a detection method and a related device of a laser radar and an inertial measurement unit to solve the problems of low detection efficiency, cumbersome detection process and poor versatility of the detection method in the prior art

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  • Detection method and related device of lidar and inertial measurement unit
  • Detection method and related device of lidar and inertial measurement unit
  • Detection method and related device of lidar and inertial measurement unit

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Embodiment 1

[0042] figure 2 It is a flow chart of a lidar and inertial measurement unit detection method provided by Embodiment 1 of the present invention. This embodiment is applicable to mapping the point cloud data of the lidar to a point cloud map to obtain pose data, and The attitude data is compared with the calibration parameters to detect the calibration parameters of the laser radar under the inertial measurement unit. This method can be performed by the detection device of the laser radar and the inertial measurement unit. The detection device can be implemented by software and / or Hardware implementation, which can be configured in computer equipment, for example, unmanned equipment such as unmanned vehicles, robots, unmanned aerial vehicles, and computing equipment such as servers and personal computers, etc., the method specifically includes the following steps:

[0043] S101. Obtain the point cloud data collected by the lidar on the local geographic environment and the first...

Embodiment 2

[0062] image 3 It is a flow chart of a detection method for a laser radar and an inertial measurement unit provided by Embodiment 2 of the present invention. This embodiment is based on the foregoing embodiments, and supplements and details the content of the detection method for a laser radar and an inertial measurement unit. The method specifically includes the following steps:

[0063]S201. Obtain the point cloud data collected by the laser radar for the local geographic environment and the first pose data detected by the inertial measurement unit when the vehicle is driving in the specified geographic environment.

[0064] Among them, the multi-frame point cloud data of the lidar during the entire driving process of the vehicle is obtained (each frame of point cloud data can cover a 360-degree circular viewing angle), and the world coordinate system of the vehicle detected by the inertial measurement unit is obtained during the entire driving process. The multi-frame pos...

Embodiment 3

[0106] Figure 4 A schematic structural diagram of a detection device for a laser radar and an inertial measurement unit provided in Embodiment 3 of the present invention. The detection device may specifically include the following modules:

[0107] The data acquisition module 401 is used to acquire the point cloud data collected by the lidar on the local geographic environment, the first pose data detected by the inertial measurement unit, and the inertial measurement of the lidar when the vehicle is driving in the geographic environment. Calibration parameters under the unit;

[0108] The relative pose acquisition module 402 is configured to use the first pose data as a mapping coefficient, map the point cloud data to a preset point cloud map, and obtain the relative position of the lidar relative to the point cloud map The second pose data, the point cloud map is the point cloud data of the global geographical environment;

[0109] A deviation calculation module 403, conf...

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Abstract

The embodiment of the present invention discloses a laser radar and inertial measurement unit detection method and related devices. The method includes: acquiring the point cloud data collected by the laser radar on the local geographical environment when the vehicle is driving in the geographical environment, and the inertial measurement unit detection The first pose data; use the first pose data as the mapping coefficient, map the point cloud data to the preset point cloud map, and obtain the second pose data of the lidar relative to the point cloud map; measure the lidar The deviation between the second pose data of and the first pose data of the inertial measurement unit in the same coordinate system. Use the conversion relationship to map the point cloud data to the point cloud map, and obtain the point cloud data after alignment and correction with the point cloud map, without the need for a target reference object, strong versatility, and a simple method for calculating deviations. The measurement unit is combined with the calibration parameters to perform automatic detection, which improves the accuracy and efficiency of detection.

Description

technical field [0001] Embodiments of the present invention relate to automatic driving technology, and in particular to a detection method and a related device of a laser radar and an inertial measurement unit. Background technique [0002] With the development of unmanned driving technology, vehicle-mounted lidar and inertial measurement unit (Inertial Measurement Unit, IMU) are commonly used sensors in vehicle-mounted automatic driving systems to detect information for fusion, perception, planning, decision-making, control, etc. [0003] During the operation of the on-board automatic driving system, each sensor will often cause unavoidable displacement due to various reasons (such as collision, hardware disassembly, long-term bumpy driving, etc.), and changes relative to the original position, so that the original calibration Parameter invalid. Therefore, regular testing of calibration parameters has become a key link. [0004] The calibration of the lidar is generally ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/931G01S7/497G01C21/16G01C25/00
CPCG01C21/165G01C25/005G01S7/497G01S17/931
Inventor 冯荻杜杭肯吴涤豪蔡健韩旭
Owner GUANGZHOU WERIDE TECH LTD CO