Parameter calibration method and device for laser radar
A laser radar, parameter calibration technology, applied in the field of optical imaging, can solve the problem of unable to complete calibration, unable to extract feature point pixel coordinates and world coordinates, etc.
Active Publication Date: 2021-09-14
深圳市安思疆科技有限公司
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[0005] In order to solve the problems existing in the prior art, the present invention provides a laser radar parameter calibration method and device, which solves the problem that traditional calibration cannot be extracted from 3d point cloud data or laser grayscale data due to the light source characteristics of Spot dToF laser radar. The pixel coordinates and world coordinates of the feature points on the board make it impossible to complete the calibration problem
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[0039] In the following description, many 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, therefore, the present invention is not limited to the specific embodiments disclosed below limit.
[0040] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.
[0041] The parameter calibration method of lidar in this embodiment, such as figure 1 and Figure 4 As shown, the corresponding calibration device includes a flat plate 100 with a high reflectivity; a spot ...
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The invention discloses a parameter calibration method and device for a laser radar. The method comprises the following steps of projecting a laser source of the Spot dToF laser radar to a flat plate with a light reflection effect, converting the P value of each pixel into a gray value I and generating a corresponding gray-scale map according to the highest triggering times P acquired by the sensor, taking a pixel point P1 with the maximum gray value in each spot in the gray-scale map as a feature point of the spot map, arranging a binocular laser sensor to collect images of spots on the flat plate, and extracting a central pixel point of each spot in the two spot maps as a feature point of each spot map, calculating the coordinates of the spots in a camera coordinate system according to the depth value of the center of each spot, the pixel coordinates P1 of the spots in the gray-scale map of a single sensor in the binocular laser sensor, and the internal reference matrix K of the sensor, and transforming the pose of the Spot dToF laser radar to obtain the coordinates of the pixel feature points of the spot image obtained by the multi-frame laser radar sensor and the world coordinates of the center of the spot on the flat plate, and carrying out internal reference solution.
Description
technical field [0001] The invention belongs to the technical field of optical imaging, and in particular relates to a laser radar parameter calibration method and device. Background technique [0002] The laser source (invisible light) of Spot dToF (direct Time of Flight) lidar is speckle-shaped and dispersed by diffractive optical elements (Diffractive Optical Elements, DOE). It measures depth by directly calculating the time of flight. However, in order to calculate the 3D coordinate information of the measured object, it is necessary to calibrate the internal parameters of the laser sensor. [0003] For example, the method for automatic calibration of laser radar parameters provided by the patent application document with publication number CN 107179534A includes: setting a first marker in the calibration field, the first marker has a first marker point, and using the laser radar to perform laser calibration on the calibration field. Scanning to obtain scanning data: fi...
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IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 朱黎黄若普
Owner 深圳市安思疆科技有限公司