Joint calibration method and system among multiple target laser radars

Abstract

The invention provides a joint calibration method and system among multiple target laser radars, and the method comprises the steps: employing an auxiliary calibration laser radar for calibration, enabling the auxiliary calibration laser radar to collect at least one time of visual field completion point cloud data, and enabling the visual field completion point cloud data to be used for completing the environment information in a visual field blind area among the multiple target laser radars, the field-of-view blind area is characterized by the absence or only the presence of insufficient target point cloud data for a plurality of target lidar. According to the joint calibration method and system among the multiple target laser radars, the multiple laser radars are calibrated by utilizingthe structured information in the environment, and additional arrangement of markers or environmental surveying and mapping is not needed. Therefore, the calibration complexity among a plurality of laser radars can be simplified, the calibration cost is reduced, and the method and the system are particularly suitable for application scenes such as automatic driving and civil defense monitoring ofautomobiles.

Description

technical field [0001] The invention relates to the field of communication technology, in particular to a joint calibration method and system among multiple target laser radars. Background technique [0002] With the continuous development of lidar performance, it has been widely used in the field of perception. At present, the traditional calibration methods of multiple lidars are mainly divided into two types: using the calibration room and using point cloud matching in the common field of view of multiple lidars. Among them, the calibration room used by the first type of method has high requirements on the verticality of the wall surface and the included angle, etc., and the construction time is long and the cost is high. It is usually limited to the mass production and large-scale testing of the vehicle factory. use on occasions. The point cloud matching in the common field of view used in the second type of method is based on the premise that there is a sufficient com...

AI Technical Summary

Problems solved by technology

The calibration process of this patented technology requires the data of the inertial navigation system. It is a laser radar calibration method based on the data of the vehicle inertial navigation system. It needs to be modified in a specific environment, and the calibration cost is high.

[0007] To sum up, the existing calibration methods usually need to rely on high-cost calibration rooms or require specific environmental modifications, and the calibration costs are high.

At present, there is no description or report of the similar technology of the present invention, and no similar data at home and abroad have been collected yet.

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