Spatial calibration method for rotary three-dimensional measurement system of two-dimensional laser range finder

Abstract

The invention discloses a spatial calibration method for the pose of a rotary three-dimensional measurement system of a two-dimensional laser range finder. The objective of the invention is to solve the problem that three-dimensional point cloud images acquired and spliced by a range finder are easy to generate errors and distortion under the condition that pose deviation exists between a holder rotation center (an original point of a world coordinate system) and a measurement reference point (a laser emission point) of the laser range finder. The invention provides a spatial calibration method for the pose of a rotary three-dimensional measurement system of a two-dimensional laser range finder, which can calibrate the deviation angle of the two-dimensional laser range finder and the offsets on three coordinate axes under the condition that a special calibration reference object is not needed. The method is simple in step, calibration cost and time can be effectively reduced, calibration precision of a measurement system is improved, and errors and distortion of the spliced three-dimensional point cloud images are inhibited.

Description

Technical field: [0001] The invention relates to the calibration of a measuring system of a laser rangefinder, in particular to a space calibration method for a rotating three-dimensional measurement system of a two-dimensional laser rangefinder. Background technique: [0002] The two-dimensional laser rangefinder is a device that senses the distance information of the measured object by emitting laser light. It scans a certain section in three-dimensional space, and the two-dimensional point cloud image of the section can be obtained from the distance information and emission angle. It is widely used in robots. Environmental perception, cultural relic restoration and geographic information systems and other fields. Scholars at home and abroad have designed a variety of two-dimensional laser range finders combined with three-dimensional rotation measurement systems of rotating devices, and at the same time studied the pose calibration of the measurement system. The laser se...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is: in order to solve the situation that there is a pose deviation between the center of rotation of the pan / tilt (the origin of the world coordinate system) and the measurement reference point (laser emission point) of the laser range finder, the range finder collects and splices The final 3D point cloud image is prone to errors and distortions, and a space calibration method for the pose of the 2D laser rangefinder rotating 3D measurement system is provided. Calibrate the deviation angle (including roll angle, pitch angle, yaw angle) of the distance meter and the offset on the three coordinate axes. This method is simple and suitable for online operation, which can effectively reduce the calibration cost and time, increase Measure the accuracy of the system and suppress the distortion and error of the 3D point cloud image after splicing

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