External parameter calibration method and device for integrated navigation equipment and laser radar
A technology of integrated navigation and laser radar, which is applied in the direction of radio wave measurement systems and instruments, can solve the problems of cumbersome operation, long time consumption, and low accuracy of results, and achieve accurate results of external parameter calibration, reduce time consumption, and achieve external parameter calibration Process efficient effect
Pending Publication Date: 2022-04-12
SHANGHAI SANY HEAVY IND
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[0005] The present invention provides a method and device for calibrating external parameters of integrated navigation equipment and laser radar, which are used to solve the defects of cumbersome operation, long time-consuming and low accuracy of results in the calibration method of external parameters of integrated navigation equipment and laser radar in the prior art. Realize efficient and accurate external parameter calibration of integrated navigation equipment and lidar
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[0056] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention. , not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0057] figure 1 A method for calibrating external parameters of a combined navigation device and a lidar provided by an embodiment of the present invention is shown, and the method includes:
[0058] Step 110 : Obtain the original pose data collected by the integrated navigation device and the original point cloud data collected by the lidar, respectively.
[0059] The integrated navigation device in this embodim...
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According to the external parameter calibration method and device for the integrated navigation equipment and the laser radar provided by the invention, the calculation efficiency and the result precision of an optimal external parameter calibration solution can be effectively improved by acquiring a relatively ideal external parameter initial value; the pose information of the laser radar is estimated through the pose interpolation mode, compared with the mode of estimating the radar pose through the SLAM algorithm, the method is more convenient and efficient, the time consumption of the whole external parameter calibration process is reduced, the external parameter calibration process is more efficient, and the external parameter calibration result is more accurate.
Description
technical field [0001] The invention relates to the technical field of intelligent driving, in particular to a method and device for calibrating external parameters of a combined navigation device and a laser radar. Background technique [0002] High-precision integrated navigation equipment and lidar are commonly used sensors in high-precision positioning and sensing technology of working machinery. It is difficult to obtain the external parameter calibration parameters by using the external parameter measurement method for the installation position on the working machine. [0003] At present, the external parameter calibration of the integrated navigation device and the lidar is mainly realized by converting the data collected by the lidar into the coordinate system of the integrated navigation device. On the one hand, external parameters can be measured directly by using external sensors, but due to the different installation positions of integrated navigation equipment ...
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Login to View More IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 张敏
Owner SHANGHAI SANY HEAVY IND