Radar calibration and verification method and device, computer equipment and storage medium

Abstract

The invention relates to a radar calibration method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring first point cloud data received by a reference radar in a process of moving according to a preset route, and second point cloud data received by a to-be-calibrated radar in the same scene; at least one position exists in the process that the reference radar moves to the area where the radar to be calibrated is located, so that the visual range of the reference radar comprises the visual range of the radar to be calibrated; reflecting plates in different shapes are installed in the visible range of different radars to be calibrated. The first point cloud data and the second point cloud data both comprise point cloud data reflected by the reflector; the first point cloud data and the second point cloud data are matched according to a matching algorithm, an external parameter matrix of the radar to be calibrated under a reference coordinate system is obtained, and the reference coordinate system is a coordinate system established with the initial position of the reference radar as the original point. According to the method, calibration work of multiple radars to be calibrated can be completed at the same time, and the calibration efficiency is greatly improved.

Description

technical field [0001] The present application relates to the technical field of lidar, and in particular, to a radar calibration and verification method, device, computer equipment, storage medium and computer program product. Background technique [0002] Lidar detects the position and velocity information of a target by emitting a laser beam at the target and receiving the beam reflected from the target. Lidar can provide real and reliable target information for unmanned driving. In order to enhance the perception ability and perception range of autonomous vehicles to the surrounding environment, a single vehicle is usually equipped with multiple lidars, and a large field of view can be achieved by using multiple radars at the same time for field-of-view splicing. At the same time, multiple radars can also improve the robustness of the entire system. Due to the different installation positions, the coordinate systems of multiple radars are not unified, which leads to th...

AI Technical Summary

Problems solved by technology

However, due to the different installation locations, the coordinate systems of multi-radars are not uniform, which leads to the fact that the point clouds output by multi-radars cannot be unified into the same coordinate system. Therefore, the external parameter calibration of multi-lidars is very important.

[0003] In the related technology, the external parameter calibration of lidar can usually only calibrate one radar to be calibrated at a time, and the calibration efficiency is low

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