Laser radar sensor six-dimensional external parameter calibration method for mobile robot

Abstract

The invention discloses a laser radar sensor six-dimensional external parameter calibration method for a mobile robot. The method comprises the steps of arranging two laser radars and a two-dimensional code positioning module on the mobile robot; scanning two fixed planes in the current environment by utilizing the two laser radars, operating the laser radar near the two-dimensional code positioning module to scan the two planes, and recording the pose of the base relative to a map coordinate system of each frame and point cloud obtained through scanning of the laser radars; processing the pose and the point cloud by adopting a straight line extraction method based on a random sampling consistency method, and solving the coordinate of the intersection point of each frame of intersection line relative to the laser radar; solving a deviation function of the distance between the coordinates of each actual intersection point in the world coordinate system and the two planes and the theoretical distance, and constructing a to-be-optimized problem model according to the deviation function; and solving the to-be-optimized problem model by adopting a Gaussian-Newton method to obtain an optimal relative pose, and completing calibration of the six-dimensional external parameters of the laser radar. The calibration method is short in early-stage preparation time and small in calibration error.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to a method for calibrating six-dimensional external parameters of a laser radar sensor for a mobile robot. Background technique [0002] The laser ranging radar sensor has the characteristics of good real-time performance, high ranging stability and strong anti-light ability, supporting the development of robot environment perception, obstacle avoidance and navigation technologies. The laser ranging sensor has the advantage of high cost performance. On the mobile robot platform, multiple sets of laser ranging sensors are deployed. Due to the errors in the installation position and attitude of the mounting bracket and the laser ranging sensor, the data obtained by the robot will have a large deviation, and even cause perception Error phenomenon, so the external parameters of laser ranging radar are very important. Through parameter calibration and calibration, the data consist...

AI Technical Summary

Problems solved by technology

However, traditional laser calibration methods have disadvantages such as long preparation time and large calibration errors.

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