Three-dimensional laser radar space coordinate calibration method based on shafting error model
An error model and three-dimensional laser technology, applied in the field of laser sensing, can solve problems such as poor calibration accuracy of lidar, and achieve the effect of improving accuracy
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specific Embodiment approach 1
[0043] Specific implementation mode one: refer to figure 1 and figure 2 Specifically explaining this embodiment, a method for calibrating three-dimensional laser radar space coordinates based on an axis error model described in this embodiment includes the following steps:
[0044] Step 1: Use the laser radar to obtain the light spot, and locate the acquired light spot;
[0045] Step 2: Plan the motion plane of the spot for the spot after positioning;
[0046] Step 3: Obtain the motion parameters and nominal values of the light spot in the motion plane;
[0047] Step 4: Obtain the actual position of the light spot;
[0048] Step 5: Obtain the relative position error Δdi of any two light spots according to the movement parameters, nominal value and actual position of the light spots;
[0049] Step 6: Set the initial value of the geometric error parameter of the relative position error Δdi of any two spots to 0, and then use the Levenberg-Marquardt algorithm to obtain The...
specific Embodiment approach 2
[0051] Specific embodiment two: this embodiment is a further description of specific embodiment one, and the difference between this embodiment and specific embodiment one is that the specific steps of said step one are;
[0052] Step 11: Fix a glass substrate coated with aluminum oxide film and the camera together as a spot positioning probe;
[0053] Step 1 and 2: Adjust the position of the camera to ensure that the glass substrate is within the field of view of the camera;
[0054] Step 13: Use the glass substrate coated with aluminum oxide film to receive the light spot, and then use the camera to shoot the light spot to obtain the light spot image;
[0055] Step 14: According to the obtained spot image, use the spot centroid extraction algorithm to obtain the coordinates of the spot centroid in the spot image;
[0056] Step 15: Adjust the centroid of the spot to the center of the spot image. The probe follows and positions the spot as image 3 shown.
specific Embodiment approach 3
[0057] Specific embodiment three: this embodiment is a further description of specific embodiment two, and the difference between this embodiment and specific embodiment two is that the specific steps of said step two are:
[0058] Step 21: install the light spot positioning probe on the main shaft of the three-coordinate measuring machine, and set the movement range of the three-coordinate measuring machine;
[0059] Step 22: In the movement range space, distribute the movement trajectory of the spot positioning probe in multiple planes, the interval between the planes is equally divided on the y-axis of the three-coordinate measuring machine, and the planes are parallel to the xoz plane.
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