Unlock instant, AI-driven research and patent intelligence for your innovation.

Laser radar calibration method and electronic equipment

A laser radar and calibration method technology, applied in the field of rail transit, can solve the problems of large error in calibration results, low efficiency, and complicated operation

Active Publication Date: 2021-03-26
浙江众合科技股份有限公司
View PDF5 Cites 4 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this method, since the pose relationship between lidars is obtained indirectly, the calibration results have large errors, complex operations, and low efficiency.

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 more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Laser radar calibration method and electronic equipment
  • Laser radar calibration method and electronic equipment
  • Laser radar calibration method and electronic equipment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] Calibration method of laser radar, including steps:

[0031] S1: Use a calibrator having at least three straight sides perpendicular to each other, and is called a calibration edge, and the edge is visible on three directions (front view, topping, and right view);

[0032] S2: In an open environment, hold the calibration body stationary, place the laser radar to be marked, and ensure that the laser point cloud corresponding to the calibration edge on the calibration body is not overlapped;

[0033] S3: Keep the laser radar is in a static state, the first laser radar and the second laser radar are scanned respectively, and the first point cloud data and the second point cloud data are obtained at a particular frame rate, and displayed on the visual software ;

[0034] S4: The first laser point cloud and the second laser point cloud are superimposed on a fixed frame number, and obtain the first thick dental cloud and the second thick minus cloud;

[0035] S5: In one embodimen...

Embodiment 2

[0074] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and can run on the processor, the processor implements the computer program. Steps to the calibration method of laser radar.

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

No PUM Login to View More

Abstract

The invention discloses a laser radar calibration method and electronic equipment. The method comprises the following steps: obtaining a first calibration point cloud and a second calibration point cloud; completing calibration of a roll angle, a pitch angle and a yaw angle respectively; calculating to obtain a rotation matrix R according to the three rotation angles, and performing rotation transformation on each point in the second calibration point cloud according to the rotation matrix; measuring for multiple times, and finally calculating an average value of translation parameters; and calculating to obtain a conversion matrix according to the three average rotation angles and the three average translation parameters. Aiming at the point cloud characteristics of the Livox laser radar,the method does not depend on the measurement values of other sensors, and simply, effectively and accurately calibrates the relative poses among a plurality of Goroto laser radars, thereby achievingthe unification of a plurality of coordinate systems, achieving the high-precision fusion of laser point clouds, and being higher in precision and strong in operability.

Description

Technical field [0001] The present invention belongs to the field of rail traffic, and specific relates to drone sensor techniques. Background technique [0002] Two or more laser radars are sometimes used in the unmanned drive. Before use, there is a need to calibrate their relative positions to unify the coordinate system to achieve laser point cloud fusion. The LOVOX Lidar has a special non-repetitive scan mode. With the increase of integration time, the laser point cloud field coverage increases, in order to detect more details in the field of view, this feature and common Mechanical rotary multi-line laser radar is quite different. [0003] In the conventional technique, the calibration between multiple laser radar is mainly calculated by first making a single laser radar with other sensors such as IMU (inertial measurement sensors), and then calculates these calibration results, thereby indirectly obtaining multiple laser radar between multiple laser radar. The relative pos...

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
no application Login to View More
IPC IPC(8): G01S7/497G01S17/87
CPCG01S7/497G01S17/87
Inventor 田巍沈汪晴李邺尤新袁锦辉
Owner 浙江众合科技股份有限公司