Calibration method and system of optical detection and distance measurement equipment and machine readable medium

Abstract

The invention discloses a calibration method for an imaging auxiliary angle of LiDAR equipment. The method comprises the steps that: an image of a spatial resolution graph on a flat plate is received, wherein the image is shot by a camera and located at a preset distance from the spatial resolution graph; the angular resolution of the camera is determined according to the image of the spatial resolution graph and the preset distance; an image of a laser spot irradiating a raster scan pattern on the flat plate is received, wherein the laser spot is emitted from the LiDAR equipment located at a preset distance from the flat plate, the raster scan pattern is formed based on a preset value set in the LiDAR equipment; then, based on the image of the laser point and the angular resolution of the camera, a step-by-step movement angle set of the LiDAR equipment corresponding to the preset value set is calculated. Angle calibration is thereby performed to ensure that the solid state LiDAR equipment has an accurate and reliable expected scan angle.

Description

technical field [0001] Embodiments of the invention relate generally to remote sensing, and more particularly to angular calibration of a Light Detection and Ranging (LiDAR) device. Background technique [0002] LiDAR devices can measure the distance to an object in the environment by illuminating it with a laser pulse and measuring the object's reflected pulse. LiDAR devices typically utilize advanced optics and rotating components to create a wide field of view, but such implementations tend to be bulky and expensive. Solid-state LiDAR devices tend to be less costly, but are still relatively large in size. [0003] Solid-state LiDAR devices can scan a laser beam in different directions towards a target object. The laser scanner in a LiDAR device is controlled by an electric current. It is often desirable to move a laser scanner in a specific direction with an electric current at a specific voltage; otherwise, the LiDAR device may distort the image of the target object. ...

AI Technical Summary

Problems solved by technology

It is often desirable to move the laser scanner in a specific direction with an electric current at a specific voltage; otherwise, the LiDAR device may distort the image of the target object

However, due to individual differences in LiDAR devices and environmental factors such as temperature, the same voltage may move different laser scanners of a LiDAR device in different directions if not properly calibrated to account for these differences

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