A laser radar calibration method and electronic device

Abstract

The invention discloses a laser radar calibration method and electronic device, comprising the following steps: obtaining a first calibration point cloud and a second calibration point cloud; respectively completing the calibration of roll angle, pitch angle and yaw angle; The rotation angle is calculated to obtain the rotation matrix R, and each point in the second calibration point cloud is rotated according to the rotation matrix; after multiple measurements, the average value of the translation parameters is finally calculated; according to the three average rotation angles and the three average translation parameters Calculate the transformation matrix. Aiming at the point cloud characteristics of the Lanwo laser radar, the invention simply, effectively and accurately calibrates the relative poses among multiple Lanwo laser radars without relying on the measurement values ​​of other sensors, so as to achieve the unification of multiple coordinate systems and realize laser The high-precision fusion of point clouds has high accuracy and strong operability.

Description

technical field

[0001] The invention belongs to the technical field of rail transit, and in particular relates to an unmanned sensor technology. Background technique

[0002] In the field of unmanned driving, two or more lidars are sometimes used. Before use, their relative poses need to be calibrated, so as to unify the coordinate system and realize laser point cloud fusion. Livox Lidar has a special non-repetitive scanning mode. As the integration time increases, the coverage of the laser point cloud field of view increases, so that more details in the field of view can be detected. The mechanical rotating multi-line lidar is quite different.

[0003] In the traditional technology, the calibration between multiple lidars is mainly performed by calibrating a single lidar and other sensors such as IMU (Inertial Measurement Sensor) respectively, and then calculating these calibration results, thereby indirectly obtaining the calibration between multiple lidars. The relativ...

Examples

Embodiment 1

[0030] A method for calibrating a laser radar, comprising the following steps:

[0031] S1: use a kind of calibration body, it has at least three mutually perpendicular straight sides, hereinafter referred to as calibration sides, and this side is visible in three directions (front view, top view and right view);

[0032] S2: In an open environment, keep the calibration body in a static state, place it in the measurement area of ​​the lidar to be calibrated, and ensure that the laser point clouds corresponding to the calibration edges on the calibration body do not overlap each other;

[0033] S3: Keep the lidar in a static state, the first lidar and the second lidar scan the calibration body respectively, obtain the first point cloud data and the second point cloud data at a specific frame rate, and display them on the visual software ;

[0034] S4: the first laser point cloud and the second laser point cloud are respectively superimposed by a fixed number of frames to obtai...

Embodiment 2

[0074] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the one when executing the computer program. The steps of a laser radar calibration method.

technical field

[0001] The invention belongs to the technical field of rail transit, and in particular relates to an unmanned sensor technology. Background technique

[0002] In the field of unmanned driving, two or more lidars are sometimes used. Before use, their relative poses need to be calibrated, so as to unify the coordinate system and realize laser point cloud fusion. Livox Lidar has a special non-repetitive scanning mode. As the integration time increases, the coverage of the laser point cloud field of view increases, so that more details in the field of view can be detected. The mechanical rotating multi-line lidar is quite different.

[0003] In the traditional technology, the calibration between multiple lidars is mainly performed by calibrating a single lidar and other sensors such as IMU (Inertial Measurement Sensor) respectively, and then calculating these calibration results, thereby indirectly obtaining the calibration between multiple lidars. The relativ...

Examples

Embodiment 1

[0030] A method for calibrating a laser radar, comprising the following steps:

[0031] S1: use a kind of calibration body, it has at least three mutually perpendicular straight sides, hereinafter referred to as calibration sides, and this side is visible in three directions (front view, top view and right view);

[0032] S2: In an open environment, keep the calibration body in a static state, place it in the measurement area of ​​the lidar to be calibrated, and ensure that the laser point clouds corresponding to the calibration edges on the calibration body do not overlap each other;

[0033] S3: Keep the lidar in a static state, the first lidar and the second lidar scan the calibration body respectively, obtain the first point cloud data and the second point cloud data at a specific frame rate, and display them on the visual software ;

[0034] S4: the first laser point cloud and the second laser point cloud are respectively superimposed by a fixed number of frames to obtai...

Embodiment 2

[0074] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the one when executing the computer program. The steps of a laser radar calibration method.

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