Calibration method based on random scanning radar

Abstract

The embodiment of the present invention provides a calibration method based on a random scanning radar, which relates to the technical field of optical measurement, and can improve the accuracy of the coordinate conversion relationship between the coordinate system of the wire beam radar and the designated coordinate system. The technical solution of the embodiment of the present invention includes: obtaining the dense point cloud set generated by scanning the first scene for time accumulation within the preset time period of the random scanning radar, and obtaining the first sparse point cloud obtained by scanning the second scene with the first beam type radar gather. Then, each point in the first sparse point cloud set is matched with a point in the dense point cloud set to obtain a first coordinate transformation relationship between the coordinate system of the random scanning radar and the coordinate system of the first beam type radar. Then determine the second coordinate transformation relationship between the coordinate system of the random scanning radar and the specified coordinate system, and then based on the first coordinate transformation relationship and the second coordinate transformation relationship, obtain the coordinate system of the first wire beam type radar and the specified coordinate system. The third coordinate transformation relationship between.

Description

technical field [0001] The invention relates to the technical field of optical measurement, in particular to a calibration method based on random scanning radar. Background technique [0002] At present, in the automatic positioning technology, the combination of wire harness radar and other auxiliary positioning equipment is usually used for environment fusion perception. In order to combine the data collected by the two devices to achieve the effect of mutual assistance and mutual calibration, it is necessary to obtain the coordinate transformation relationship between the coordinate system of the wire-beam radar and the coordinate system of the auxiliary positioning equipment, that is, it is necessary to compare the coordinate system of the wire-beam radar with the auxiliary positioning device before positioning. The positioning device is calibrated. [0003] In related technologies, taking the auxiliary positioning device as a camera as an example, the usual method for ...

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Problems solved by technology

[0004] However, limited by the number of lines included in the wire beam radar, the scanning coverage of the wire beam radar is small, that is, the number of points collected is small

In the case of a small number of collected points, if there is an error in the position of the collected points, the accuracy of extracting the calibration points from the points will be low, which will cause a gap between the coordinate system of the calibrated beam radar and the coordinate system of the camera. The accuracy of the coordinate transformation relationship is low

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