Multi-laser radar external parameter calibration method and device based on servo motor auxiliary motion
A technology of servo motor and calibration method, which is applied in the field of positioning, can solve problems such as inaccurate calibration of external parameters of multiple laser radars, and achieve the effects of efficient calculation, simple and convenient operation, and accurate calibration
Active Publication Date: 2021-12-10
INST OF AUTOMATION CHINESE ACAD OF SCI
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[0006] The present invention provides a multi-laser radar external parameter calibration method and device based on servo motor-assisted motion, which is used to solve the defect of inaccurate multi-laser external parameter calibration in the prior art, and realize accurate and fast calibration of multiple laser radar external parameters.
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[0060] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0061] Combine below figure 1 Describe a multi-lidar external parameter calibration method based on servo motor-assisted motion of the present invention, including:
[0062] Step 100: Construct a virtual motor coordinate system corresponding to each radar in the multi-lidar;
[0063] Specifically, in the present invention, when determining the external parameters between different rada...
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The invention provides a multi-laser radar external parameter calibration method and device based on servo motor auxiliary motion, and the method comprises the steps: constructing a virtual motor coordinate system corresponding to each radar in multiple laser radars; according to each radar and the virtual motor coordinate system, determining external parameters between the radar and the virtual motor coordinate system; determining a corresponding environment model of the radar according to the external parameters; and external parameters among the multiple laser radars are determined according to the environment model of each radar. The method and device are suitable for external parameter calibration between any plurality of laser radars with any relative pose relation, and do not require a common-view area between the plurality of laser radars. The calibration method is simple and convenient to operate, high in expansibility and efficient in calculation, does not need specific calibration objects or scene arrangement, and is suitable for process-oriented, rapid and accurate calibration of the multi-laser radar system.
Description
technical field [0001] The invention relates to the field of positioning technology, in particular to a multi-laser radar external parameter calibration method and device based on servo motor-assisted motion. Background technique [0002] LiDAR can obtain structural information and reflection information of the surrounding environment, and can realize positioning navigation and three-dimensional reconstruction. It is widely used in autonomous driving, digital twins, AR, VR and other fields. The scanning range of a lidar is usually limited. For example, the commonly used Velodyne VLP-16 lidar has a horizontal scanning range of 360° and a vertical scanning range of . In order to be able to use the lidar to scan and reconstruct the environment completely, it is necessary to constantly change the position and attitude of the lidar relative to the environment space (referred to as pose) during the scanning process to achieve a complete scan of the surrounding environment. Comp...
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IPC IPC(8): G01S7/497G01S17/02
CPCG01S7/497G01S17/02
Inventor 荣政王硕吴毅红
Owner INST OF AUTOMATION CHINESE ACAD OF SCI