Laser radar external parameter calibration method and device based on stochastic gradient descent

A stochastic gradient descent and lidar technology, which is applied in image data processing, instruments, calculations, etc., can solve the problems of manpower consumption, low calibration efficiency, and poor generalization, so as to improve efficiency and accuracy, and reduce manpower and material resources Effect

Pending Publication Date: 2021-12-31
XIAMEN UNIV
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Problems solved by technology

[0003] In related technologies, in the process of external parameter calibration for laser radar, manual calibration methods or calibration object measurement methods are often used. However, manual calibration methods require high precision of the operator's operation, and the generalizability is not strong. And the measurement accuracy is not stable
However, the calibration object measurement method needs to move the calibration object, which consumes a lot of manpower, so the calibration efficiency of this method is low.

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  • Laser radar external parameter calibration method and device based on stochastic gradient descent
  • Laser radar external parameter calibration method and device based on stochastic gradient descent

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Embodiment Construction

[0028] 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.

[0029] In related technologies, in the process of external parameter calibration for laser radar, manual calibration methods or calibration object measurement methods are often used. However, manual calibration methods require high precision of the operator's operation, and the generalizability is not strong. And the measurement accuracy is unstable. However, the calibration object measurement method needs to move the calibration object, which consumes a lot of manpower, so the calibration efficiency of this method is low. Accor...

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Abstract

The invention discloses a laser radar external parameter calibration method and device based on stochastic gradient descent and a medium, and the method comprises the steps: carrying out the scanning of a to-be-mapped region through radar equipment so as to obtain datum point cloud data; screening the reference point cloud data to select a plurality of reference control points, and extracting point cloud coordinate values of the reference control points; measuring each reference control point to obtain an actual coordinate value of each reference control point; correcting external parameters of the laser radar according to the actual coordinate values of the reference control points and the corresponding point cloud coordinate values by using a stochastic gradient descent method so as to complete calibration of the external parameters; the laser radar external parameter calibration efficiency and accuracy can be effectively improved; meanwhile, manpower and material resources consumed by laser radar external parameter calibration are reduced, and the method is suitable for popularization.

Description

technical field [0001] The invention relates to the technical field of radar measurement, in particular to a laser radar external parameter calibration method based on stochastic gradient descent, a computer-readable storage medium and a stochastic gradient descent based laser radar external parameter calibration device. Background technique [0002] Lidar has the advantages of high precision, large ranging range, and is not affected by light. Therefore, it is widely used in the field of environmental perception such as obstacle detection, real-time positioning and map construction of intelligent driving vehicles. In actual use, in order to unify the information of multiple sensors to achieve precise positioning, it is necessary to convert the data in the local coordinate system acquired by the lidar to the world coordinate system, that is, convert the point cloud coordinate data through the coordinate transformation matrix. Therefore, it is necessary to calibrate the lidar ...

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Application Information

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Patent Type & AuthorityApplications(China)
IPC IPC(8): G06T7/80
CPCG06T7/80G06T2207/10028
Inventor程明陈亮范晓亮王程
OwnerXIAMEN UNIV