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A laser radar calibration method, device, equipment and storage medium

A technology of laser radar and calibration method, which is applied in the field of sensor calibration, can solve the problems of sensitive calibration distance and low calibration accuracy, and achieve the effects of reducing calibration error, improving calibration accuracy, and easy operation

Active Publication Date: 2022-01-14
GUANGZHOU WERIDE TECH LTD CO
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention provides a laser radar calibration method, device, equipment and storage medium to solve the problems of low calibration accuracy and sensitivity to calibration distance in the existing calibration technology

Method used

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  • A laser radar calibration method, device, equipment and storage medium
  • A laser radar calibration method, device, equipment and storage medium
  • A laser radar calibration method, device, equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] figure 2 A flow chart of a laser radar laser laser laser laser laser laser, the present embodiment can be applied to the case where the laser radar sensor is calibrated with the camera, and the method can be performed by a laser radar laser laser, the calibration device Implemented by software and / or hardware, can be configured in computer devices, such as unmanned equipment such as driver, robot, unmanned aircraft, and servers, personal computers, etc., etc., the method includes the following step:

[0047] S101, get the point cloud data that is irradiated on the calibration body in the laser radar.

[0048] In the present embodiment, the calibration body includes at least three planes, one plane is a calibration surface, at least two planes are non-standard fixing surfaces, and there is a target point for positioning reference in the calibration surface, and at least two non-calibration in the calibration body. The surface intersects with the calibration surface, and t...

Embodiment 2

[0087] Figure 3A The flow chart of a laser radar laser laser laser laser laser scale is provided in the present invention, and the present embodiment is based on the first embodiment, and the laser radar is combined with the camera as an example to further illustrate the calibration method, and the method includes the following. step:

[0088] S201, obtains the point cloud data that is irradiated on the calibration body.

[0089] Among them, the calibration body includes a calibration surface, at least two non-standard sidewasions intersecting the marking surface, the calibration surface intersects the intersection of the non-standard fixing surface and sets a target point.

[0090] In this embodiment, Figure 3B and Figure 3C Both of the standard, the present invention is not limited to the shape of the labeling surface, the shape of the non-calibration surface is not limited, and the target point in the calibration surface is not limited.

[0091] S202, extracting the point clou...

Embodiment 3

[0122] Figure 4 A structural schematic structural diagram of a laser radar laser laser laser laser laser laser radar according to Embodiment 3 of the present invention, and the apparatus can include a module:

[0123] The data acquisition module 401 is configured to obtain a point cloud data illuminated on the calibration body, the calibration body comprising a calibration surface, at least two non-standard sidewalks intersecting the calibration surface, the scale and the non- The intersection of the calibration surface intersects and sets a target point;

[0124] Point cloud data division module 402 for dividing the point cloud data into a first target point cloud data representing the labeling surface and a second target point cloud data indicating the non-standard portion;

[0125] The three-dimensional coordinate calculation module 403 is configured to calculate the three-dimensional coordinate of the target point at the coordinate system of the laser radar according to the i...

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Abstract

The invention discloses a laser radar calibration method, device, equipment and storage medium. The method includes: acquiring point cloud data irradiated by the laser radar on a calibration body, the calibration body includes a calibration surface, and at least two non-contact points intersecting the calibration surface. Calibration surface, the intersection line of the calibration surface and the non-calibration surface is intersected and a target point is set; the point cloud data is divided into the first target point cloud data representing the calibration surface and the second target point cloud data representing the non-calibration surface; according to the first The intersection relationship between the first target point cloud data and the second target point cloud data is used to calculate the three-dimensional coordinates of the target point in the laser radar coordinate system. Based on the intersection relationship between the second target point cloud data representing different non-calibrated surfaces and the first target point cloud data representing the calibration surface, the three-dimensional space coordinate position of the calibration body in the lidar coordinate system is determined, and the target point is calculated at The three-dimensional coordinates in the lidar coordinate system will not introduce fitting errors, can improve the calibration accuracy, and the calibration process is simple.

Description

Technical field [0001] Embodiments of the present invention relate to sensor calibration techniques, and more particularly to a laser radar standard method, apparatus, device, and storage medium. Background technique [0002] With the development of unmanned driving technology, the in-vehicle laser radar is used as a sensor commonly used in the automatic driving system, and the data collected by the car laser radar is usually integrated with other sensors to assist the auxiliary automatic driving system. , Control, etc. [0003] Since the laser radar is different from the respective coordinate systems of other sensors, the data collected by the laser radar cannot be fused directly to the data collected by other sensors, and the sensor is required to be calibrated in advance, such as calibration of the laser radar with millimeters. The laser radar is calibrated with the inertial measuring unit, and the laser radar is calibrated with the camera, and the like. Gets the coordinate co...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 范云飞王志谦徐迅韩旭
Owner GUANGZHOU WERIDE TECH LTD CO