An online calibration method for external parameters of multi-lidar
A technology of laser radar and calibration method, which is applied in the direction of radio wave measurement system and instrument, can solve the problems of low precision, increase the construction cost of calibration room and labor cost, and achieve the effect of improving precision
Active Publication Date: 2022-03-01
AUTOCORE INTELLIGENT TECH NANJING CO LTD
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[0004] The existing calibration methods include offline calibration and online calibration, and offline calibration requires a professional calibration environment, and the sensor needs to be re-calibrated after reinstallation, which increases a lot of calibration room construction costs and labor costs; while the existing traditional online calibration is based on single frame Point cloud, single-frame point cloud due to the sparsity of lidar point cloud, the accuracy is low, so it is of great significance to design a high-precision multi-lidar external parameter calibration method
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[0026] In order to make the above objects, features and advantages of the present invention more obvious and comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0027] In the following description, a lot of specific details are set forth in order to fully understand the present invention, but the present invention can also be implemented in other ways different from those described here, and those skilled in the art can do it without departing from the meaning of the present invention. By analogy, the present invention is therefore not limited to the specific examples disclosed below.
[0028] Second, "one embodiment" or "an embodiment" referred to herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. "In one embodiment" appearing in different places in this specification does not all refer to ...
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The invention discloses an online calibration method for external parameters of multi-laser radars, which includes opening the corresponding functions of the main laser radar arranged on the roof and multiple blind-filling laser radars arranged on the vehicle body, and synchronously locking the phase; The PPS output signal and GPRMC signal are connected to all laser radars; when the mobile platform is moving, the external reference calibration procedure is triggered regularly; the continuous multi-frame point clouds of all laser radars are stored; the continuous multi-frame points passing through the main laser radar The local point cloud map is built on the cloud; the external parameters of the main lidar and the blinding lidar are calibrated by using the dense point cloud map, which improves the accuracy of the external parameter calibration process and provides high-precision external parameters under different installation structures. Refer to the calibration method.
Description
technical field [0001] The invention relates to the technical field of machine vision, in particular to an online calibration method for multi-laser radar external parameters. Background technique [0002] In recent years, with the development of AI technology and the improvement of sensor level, technologies such as autonomous driving and mobile robots have become research hotspots. The premise of these technologies is to fully perceive the surrounding environment. [0003] Taking autonomous driving as an example, various sensor devices (or systems) such as lidar, camera, millimeter-wave radar, ultrasonic radar, inertial measurement unit and global positioning system are integrated on the mobile platform to perceive the surrounding environment information. Among these sensor devices, lidar plays an important role. It can collect three-dimensional point cloud information of the surrounding environment, and has the characteristics of large detection range and strong anti-int...
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IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 刘心刚刘慧远张旸陈诚刘洁
Owner AUTOCORE INTELLIGENT TECH NANJING CO LTD