A Calibration Method of Extrinsic Parameters for Rotating LiDAR
A laser radar, calibration method technology, applied in the direction of climate sustainability, instruments, ICT adaptation, etc., can solve the problem that the accuracy and robustness of external parameter calibration cannot be guaranteed, and achieve the effect of good accuracy and robustness
Active Publication Date: 2022-05-17
SOUTHWEAT UNIV OF SCI & TECH
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However, the existing calibration methods still require a specific calibration environment, and the accuracy and robustness of external parameter calibration cannot be guaranteed in an unprepared environment
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[0062] The present invention provides a method for calibrating external parameters of rotating lidar, referring to figure 1 As shown, the external parameter calibration method of the rotating laser radar includes:
[0063] S1: Obtain the first half-scan point cloud and the second half-scan point cloud of the rotating lidar scan;
[0064] Since the scanning of the rotating lidar is symmetrical, when the rotating lidar completes one scanning cycle, it actually scans the environment twice. We represent the two-scan point cloud of the entire environment as the first half-scan model and the second half-scan model , such two half-scans will completely overlap if the extrinsic parameters are correct. With predicted extrinsic transformation and from the rotation angle resulting transformation ,Depend on radar coordinate system origin in Transform to a fixed coordinate system middle . Then, according to the rotation angle ,point Accumulat...
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The invention discloses a method for calibrating external parameters of a rotating laser radar. The method for calibrating external parameters of a rotating laser radar includes: acquiring the first half-scan point cloud and the second half-scan point cloud of the rotating laser radar; judging the first half-scan Whether the point cloud and the second half-scanning point cloud are completely overlapped, if so, output the current external parameter of the rotating lidar as the final external parameter, otherwise, mesh the first half-scanning point cloud and the second half-scanning point cloud respectively , to obtain several first half-scan grids and several second half-scan grids; use the planar model fitting method to extract the planar point cloud in each first half-scan grid and second half-scan grid; for the first half The plane point cloud in the scanning grid and the second half-scanning grid performs plane matching operation to obtain the matching result; use the matching result to optimize the current external parameter of the rotating lidar, and obtain a new external parameter of the rotating lidar; the new external parameter parameter as the current external parameter and return to the judgment step.
Description
technical field [0001] The invention relates to the technical field of laser radar, in particular to an external parameter calibration method of rotating laser radar. Background technique [0002] In the past decade, 3D LiDAR has been widely used in robotics, autonomous driving, and geographic mapping due to its advantages of wide sensing range, high measurement accuracy, and strong anti-interference. However, the small field of view and low resolution of most 3D lidars in the vertical direction limit their application in the field of autonomous driving of unmanned aerial vehicles or unmanned vehicles in indoor closed environments. Simply adding laser scanning beams to expand the vertical field of view is a challenging task due to technical bottlenecks and high costs. Therefore, it is a more cost-effective solution to rotate the entire lidar around a fixed axis to obtain a larger scanning range in the vertical direction. The external parameter of the rotating lidar is the ...
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IPC IPC(8): G01S7/497
CPCG01S7/497Y02A90/10
Inventor 汪双张华陈波林海涛王聪符美琦霍建文刘冉刘满禄
Owner SOUTHWEAT UNIV OF SCI & TECH