Attitude calibration method and device for vehicle-mounted multi-line laser radar
A multi-line laser and calibration method technology, applied in the field of computer vision, can solve the problems of cumbersome and complicated steps, poor accuracy and stability, and achieve the effect of simple operation process, improved accuracy and stability, and simple calibration method.
Active Publication Date: 2021-03-02
深兰人工智能(深圳)有限公司
View PDF14 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0003] In related technologies, the attitude calibration method of multi-line lidar is cumbersome and complicated, and the accuracy and stability are poor
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0021] figure 1 It is a flow chart of an attitude calibration method for a vehicle-mounted multi-line laser radar according to an embodiment of the present invention.
[0022] like figure 1 As shown, the attitude calibration method of the vehicle-mounted multi-line laser radar in the embodiment of the present invention may include the following steps:
[0023] S1, establish a space Cartesian coordinate system with the position of the vehicle-mounted multi-li...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The present invention provides a method and device for attitude calibration of a vehicle-mounted multi-line laser radar. The method includes: establishing a space Cartesian coordinate system with the position of the multi-line laser radar as the origin; scanning the road surface through the vehicle-mounted multi-line laser radar to obtain the Point cloud data; obtain the spatial plane equation coefficient of the road surface according to the point cloud data of the road surface; select the point cloud data of the smooth area of the road surface in the point cloud data of the road surface as the calibration point cloud set; according to the spatial plane equation coefficient, obtain the calibration point cloud set M Coordinates of points, and center point coordinates of N calibration rods arranged on the road surface and positioned in front of the vehicle-mounted multi-line laser radar; the space Cartesian coordinate system is carried out multiple times with a preset step size around the coordinate axis within a preset angle range Rotation; according to the coordinates of the center points of N calibration rods or M points in the calibration point cloud set in the spatial Cartesian coordinate system after each rotation, the attitude calibration of the vehicle-mounted multi-line lidar is performed. The ability to improve greatly improves accuracy and stability.
Description
technical field [0001] The invention relates to the technical field of computer vision, in particular to an attitude calibration method for a vehicle-mounted multi-line laser radar and an attitude calibration device for a vehicle-mounted multi-line laser radar. Background technique [0002] In unmanned vehicles, vehicle-mounted multi-line lidar is generally used to realize functions such as perception, positioning and navigation. However, due to the assembly process and other reasons, the vehicle-mounted multi-line lidar needs attitude calibration to obtain accurate measurement values. [0003] In the related art, the attitude calibration method of multi-line laser radar has complicated steps, and the accuracy and stability are poor. Contents of the invention [0004] In order to solve the above technical problems, the present invention provides an attitude calibration method for a vehicle-mounted multi-line laser radar, which can greatly improve the accuracy and stabilit...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 陈海波其他发明人请求不公开姓名
Owner 深兰人工智能(深圳)有限公司