Lidar error measurement method and apparatus

Abstract

The method comprises: acquiring first point cloud data generated by a to-be-tested laser radar emitted to a target panel; performing principal component analysis (PCA) on the first point cloud data to obtain a normal vector of the first point cloud data; calculating a projection component of at least one point in the first point cloud data in the direction of the normal vector; calculating a mean value and a variance of the projection component of the at least one point in the direction of the normal vector; and generating an error measurement file, wherein the error measurement file comprises a distance true value, the mean value and the variance, and the distance true value is measured by two laser range finders emitted to the target panel. According to the method, two laser range finders and the to-be-tested laser radar are installed on one test platform, so that error measurement of the to-be-tested laser radar can be realized, and a special and large laser radar detection device is not needed.

Description

Technical Field

[0001] This disclosure relates to the field of computer vision technology, and in particular to a method and apparatus for measuring lidar errors. Background Technology

[0002] As volume rendering (VR) technology matures, multiple industries are adopting LiDAR as a 3D sensor to provide accurate environmental geometry information. However, LiDAR based on the Time-of-Flight (TOF) method has inherent optical and mechanical errors. These errors directly affect the 3D reconstruction results, making rapid and accurate measurement of LiDAR errors essential.

[0003] In existing technologies, large and complex equipment such as slide rails are usually required to measure the error of lidar. However, in many cases, it is not possible to provide such large equipment, and therefore the error of lidar cannot be measured. Summary of the Invention

[0004] One technical problem to be solved by the embodiments of this disclosure is to provide a method and apparatus for measuring lidar errors.

[0005] According to one aspect of the present disclosure, a method for determining the error of a lidar is provided, applied to a scenario where a lidar under test and two laser rangefinders are configured on the same test platform, and the origin of the lidar under test is located on the straight line where the origins of the two laser rangefinders are located, the method comprising: Acquire the first point cloud data generated by the lidar under test emitted onto the target panel; Principal component analysis (PCA) is performed on the first point cloud data to obtain the normal vector of the first point cloud data. Calculate the projection component of at least one point in the first point cloud data along the direction of the normal vector; Calculate the mean and variance of the projection components of the at least one point along the direction of the normal vector; An error measurement file is generated, which includes the true distance value, the mean, and the variance, wherein the true distance value is obtained by measuring the distance emitted by the two laser rangefinders onto the target panel.

[0006] In one embodiment of this disclosure, the method further includes: The position and orientation of the lidar under test, the two laser rangefinders, and the target panel are detected. In response to the fact that the positions and orientations of the lidar under test, the two laser rangefinders, and the target panel meet the set conditions, the operation of acquiring the point cloud data generated by the lidar under test emitted onto the target panel is executed. In response to the fact that the position and orientation of the lidar under test, the two laser rangefinders and the target panel do not meet the set conditions, the position and orientation of the lidar under test and / or the two laser rangefinders and / or the target panel are adjusted.

[0007] In another embodiment of this disclosure, detecting whether the position and orientation of the lidar under test, the two laser rangefinders, and the target panel meet the set conditions includes: The image acquisition device is controlled to acquire at least one image, wherein the at least one image includes the lidar under test, the two laser rangefinders, and the test platform; The at least one image is processed for recognition to determine the distance between the two laser rangefinders and the same edge of the test platform; In response to the fact that the distances between the two laser rangefinders and the same edge of the test platform are not equal, the position of the corner platform on which the first laser rangefinder is installed is adjusted, and the operation of the control image acquisition device to acquire at least one image is executed, wherein the first laser rangefinder is either of the two laser rangefinders; In response to the fact that the distances between the two laser rangefinders and the same edge of the test platform are equal, it is determined whether the coordinate origin of the lidar under test is located on the straight line where the origins of the two laser rangefinders are located; In response to the fact that the coordinate origin of the lidar under test is not on the straight line where the origins of the two laser rangefinders are located, the position of the angle platform on which the lidar under test is installed is adjusted, and the operation of the control image acquisition device to acquire at least one image is executed. In response to the fact that the origin of the lidar under test is located on the straight line where the origins of the two laser rangefinders are located, the system detects whether the light directions of the lidar under test and the two laser rangefinders meet the light setting conditions.

[0008] In another embodiment of this disclosure, detecting whether the light directions of the lidar under test and the two laser rangefinders meet the light setting conditions includes: The distance between the beam points emitted by the two laser rangefinders onto the target panel is obtained; Calculate the difference between the distance between the beam points and the distance between the two laser rangefinders; In response to the difference being non-zero, the attitude of the angle platform on which the first laser rangefinder is installed is adjusted, and the operation of obtaining the distance between the beam points emitted by the two laser rangefinders to the target panel is performed. In response to the difference being 0, the second point cloud data emitted by the lidar under test onto the target panel is acquired; The second point cloud data is fitted with a straight line to obtain the fitted straight line; Calculate the first angle between the direction vector of the fitted straight line and the vector of the 90-degree horizontal line direction of the lidar under test; In response to the first included angle being 90 degrees, it is determined that the light directions of the lidar under test and the two laser rangefinders meet the light setting conditions; In response to the first included angle not being 90 degrees, the attitude of the angle stage on which the lidar under test is installed is adjusted, and the operation of acquiring the second point cloud data emitted by the lidar under test onto the target panel is performed.

[0009] In yet another embodiment of this disclosure, when the lidar under test is a multi-line lidar, the method further includes: PCA analysis was performed on the second point cloud data to obtain the minimum component; Calculate the second angle between the vector of the minimum component and the vector of the lidar under test at a 90-degree horizontal angle; In response to the second included angle being less than a set angle threshold, it is determined that the placement angle of the target panel meets the set conditions; In response to the second included angle being not less than the set angle threshold, a prompt message is generated, which is used to prompt the user to adjust the placement angle of the target panel.

[0010] In yet another embodiment of this disclosure, before acquiring the second point cloud data emitted by the lidar under test onto the target panel, the method further includes: Acquire the debugging point cloud data emitted by the lidar under test onto the target panel; In response to the fact that the reflection intensity of the debug point cloud data is greater than a set intensity threshold, it is determined that the lidar under test is emitted to the reflective strip set on the target panel; In response to the fact that the reflection intensity of the debug point cloud data is not greater than a set intensity threshold, the attitude of the angle stage on which the lidar under test is installed is adjusted, and the operation of acquiring the debug point cloud data emitted by the lidar under test onto the target panel is performed.

[0011] According to another aspect of the present disclosure, a lidar error measurement device is provided, applied to a scenario where a lidar under test and two laser rangefinders are configured on the same test platform, and the origin of the lidar under test is located on the straight line where the origins of the two laser rangefinders are located. The device includes: The first acquisition module is used to acquire the first point cloud data generated by the lidar under test transmitting data to the target panel. The first analysis module is used to perform principal component analysis (PCA) on the first point cloud data to obtain the normal vector of the first point cloud data. The first calculation module is used to calculate the projection component of at least one point in the first point cloud data in the direction of the normal vector. The second calculation module is used to calculate the mean and variance of the projection components of the at least one point in the direction of the normal vector. The generation module is used to generate an error measurement file, which includes the true distance value, the mean, and the variance. The true distance value is obtained by measuring the distance emitted by the two laser rangefinders onto the target panel.

[0012] In one embodiment of this disclosure, the apparatus further includes: The detection module is used to detect the position and orientation of the lidar under test, the two laser rangefinders, and the target panel; The first acquisition module is used to perform the operation of acquiring point cloud data generated by the lidar under test and transmitted to the target panel in response to the position and attitude of the lidar under test, the two laser rangefinders and the target panel meeting the set conditions. The first adjustment module is used to adjust the position and attitude of the lidar under test and / or the two laser rangefinders and / or the target panel in response to the fact that the position and attitude of the lidar under test, the two laser rangefinders and / or the target panel do not meet the set conditions.

[0013] In yet another embodiment of this disclosure, the detection module includes: The acquisition submodule is used to control the image acquisition device to acquire at least one image, wherein the at least one image includes the lidar under test, the two laser rangefinders and the test platform; The recognition submodule is used to perform recognition processing on the at least one image to determine the distance between the two laser rangefinders and the same edge of the test platform; The first adjustment submodule is used to adjust the position of the corner platform on which the first laser rangefinder is installed in response to the fact that the distances between the two laser rangefinders and the same edge of the test platform are not equal, and to perform the operation of the control image acquisition device to acquire at least one image, wherein the first laser rangefinder is either of the two laser rangefinders; The first determining submodule is used to determine whether the coordinate origin of the lidar under test is located on the straight line where the origins of the two laser rangefinders are located, in response to the fact that the distances between the two laser rangefinders and the same edge of the test platform are equal. The second adjustment submodule is used to adjust the position of the angle platform on which the lidar under test is installed in response to the fact that the coordinate origin of the lidar under test is not on the straight line where the origins of the two laser rangefinders are located, and to perform the operation of the control image acquisition device to acquire at least one image. The detection submodule is used to detect whether the light direction of the lidar under test and the two laser rangefinders meets the light setting conditions in response to the fact that the coordinate origin of the lidar under test is on the straight line where the origins of the two laser rangefinders are located.

[0014] In yet another embodiment of this disclosure, the detection submodule includes: The first acquisition submodule is used to acquire the distance between the beam points emitted by the two laser rangefinders onto the target panel; The first calculation submodule is used to calculate the difference between the distance between the beam points and the distance between the two laser rangefinders; The third adjustment submodule is used to adjust the attitude of the angle platform on which the first laser rangefinder is installed in response to the difference being non-zero, and to perform the operation of obtaining the distance between the beam points emitted by the two laser rangefinders to the target panel. The second acquisition submodule is used to acquire the second point cloud data emitted by the lidar under test onto the target panel in response to the difference value being 0. The line fitting submodule is used to perform line fitting on the second point cloud data to obtain a fitted line; The second calculation submodule is used to calculate the first angle between the direction vector of the fitted straight line and the vector of the 90-degree horizontal line direction of the lidar under test; The determination submodule is used to determine, in response to the first included angle being 90 degrees, that the light directions of the laser radar under test and the two laser rangefinders meet the light setting conditions. The fourth adjustment submodule is used to adjust the attitude of the angle stage on which the lidar under test is installed in response to the first included angle not being 90 degrees, and to perform the operation of acquiring the second point cloud data emitted by the lidar under test onto the target panel.

[0015] In yet another embodiment of this disclosure, when the lidar under test is a multi-line lidar, the device further includes: The second analysis module is used to perform PCA analysis on the second point cloud data to obtain the minimum components; The third calculation module is used to calculate the second angle between the vector of the minimum component and the vector of the 90-degree horizontal line direction of the lidar under test; The first determination module is used to determine that the placement angle of the target panel meets the set conditions in response to the second included angle being less than a set angle threshold. The prompting module is used to generate a prompt message in response to the second included angle being not less than the set angle threshold. The prompt message is used to prompt the user to adjust the placement angle of the target panel.

[0016] In yet another embodiment of this disclosure, before acquiring the second point cloud data emitted by the lidar under test onto the target panel, the apparatus further includes: The second acquisition module is used to acquire the debugging point cloud data emitted by the lidar under test onto the target panel; The second determination module is used to determine, in response to the fact that the reflection intensity of the debug point cloud data is greater than a set intensity threshold, that the lidar under test emits light onto the reflective strip set on the target panel. The second adjustment module is used to adjust the attitude of the angle stage on which the lidar under test is installed in response to the fact that the reflection intensity of the debugging point cloud data is not greater than a set intensity threshold, and to perform the operation of acquiring the debugging point cloud data emitted by the lidar under test onto the target panel.

[0017] According to another aspect of the present disclosure, an electronic device is provided, the electronic device comprising: Memory, used to store computer programs; The processor is configured to execute a computer program stored in the memory, and when the computer program is executed, to implement the above-described lidar error measurement method.

[0018] According to another aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the above-described lidar error measurement method.

[0019] Based on the lidar error measurement method and apparatus provided in the above embodiments of this disclosure, first point cloud data generated by the lidar under test emitted onto a target panel is acquired; principal component analysis (PCA) is performed on the first point cloud data to obtain the normal vector of the first point cloud data; the projection component of at least one point in the first point cloud data in the direction of the normal vector is calculated; the mean and variance of the projection component of the at least one point in the direction of the normal vector are calculated; an error measurement file is generated, the error measurement file containing the true distance value, the mean, and the variance, wherein the true distance value is obtained by measuring the distance emitted onto the target panel by the two laser rangefinders. This technical solution achieves error measurement of the lidar under test by installing two laser rangefinders and the lidar under test on a test platform, i.e., it does not require a dedicated, large-scale lidar detection device. Compared with using dedicated, large-scale lidar detection equipment, this technical solution is not only fast and intuitive, but also low-cost and simple to operate.

[0020] The technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0021] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0022] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein: Figure 1 A flowchart illustrating one embodiment of the lidar error measurement method disclosed herein; Figure 2A This is a flowchart of yet another embodiment of the lidar error measurement method disclosed herein; Figure 2B This is a schematic diagram illustrating an application scenario of the lidar error measurement method disclosed herein; Figure 3A This is a flowchart illustrating the method for determining the error of a lidar in this disclosure, specifically a process for detecting whether the position and orientation of the lidar and laser rangefinder meet certain conditions. Figure 3B for Figure 3A The flowchart shown in the embodiment is for detecting whether the light directions of the lidar and the laser rangefinder meet the conditions. Figure 4 This is a schematic diagram of the structure of one embodiment of the lidar error measurement device disclosed herein; Figure 5 This is a schematic diagram of another embodiment of the lidar error measurement device disclosed herein; Figure 6 This is a structural diagram of an electronic device provided as an illustrative embodiment of the present disclosure. Detailed Implementation

[0023] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0024] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0025] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0026] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0027] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0028] This disclosure can be applied to electronic devices such as computer systems / servers, which can operate with a wide range of other general-purpose or special-purpose computing system environments or configurations. Examples of well-known computing systems, environments, and / or configurations suitable for use with electronic devices such as computer systems / servers include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputer systems, mainframe computer systems, and distributed cloud computing environments including any of the above systems, etc.

[0029] Electronic devices such as computer systems / servers can be described in the general context of computer-executable instructions (such as program modules) executed by the computer system. Typically, program modules can include routines, programs, object programs, components, logic, data structures, etc., which perform specific tasks or implement specific abstract data types. Computer systems / servers can be implemented in distributed cloud computing environments, where tasks are performed by remote processing devices linked through communication networks. In distributed cloud computing environments, program modules can reside on local or remote computing system storage media, including storage devices.

[0030] Exemplary embodiments Figure 1 This is a flowchart illustrating one embodiment of the lidar error measurement method disclosed herein; this lidar error measurement method can be applied to electronic devices (such as computers). Figure 1 As shown, the lidar error measurement method includes the following steps: In step 101, the first point cloud data generated by the lidar under test being emitted onto the target panel is acquired.

[0031] In one embodiment, see Figure 2BIn this exemplary embodiment, the electronic device 110 is connected to the laser rangefinder 121, laser rangefinder 122 and the lidar under test 130 via a test platform. The laser rangefinder 121, laser rangefinder 122 and the lidar under test 130 are each connected to the test platform via an angle positioner. The lidar under test 130, laser rangefinder 121 and laser rangefinder 122 can emit lasers toward the target panel 150. Then the test platform can send the point cloud data / beam points generated by the laser beams emitted by the lidar under test 130, laser rangefinder 121 and laser rangefinder 122 toward the target panel 130 to the electronic device 110. The electronic device 110 processes the point cloud data / beam points to obtain the error measurement file of the lidar under test. It should be noted that, in order to determine the error of the lidar under test 130, the positions and orientations of the lidar under test 130, laser rangefinder 121, laser rangefinder 122, and target panel 150 must meet set conditions. Specifically, at least one image of the scene can be acquired by the image acquisition device 140, and the acquired image can be sent to the electronic device 110 for recognition and processing to determine whether the positions of the lidar under test 130, laser rangefinder 121, and laser rangefinder 122 meet the set conditions. Alternatively, a laser beam can be sent to the target panel, and the orientation can be determined based on the beam point and point cloud data generated by the laser beam on the target panel. For details, please refer to [link to relevant documentation]. Figure 3A The illustrated embodiment is used to detect whether the set conditions are met, which will not be described in detail here.

[0032] In one embodiment, after ensuring that the positions and orientations of the lidar under test, the two laser rangefinders, and the target panel meet the set conditions, the electronic device can obtain the point cloud data generated by the lidar under test through the test platform.

[0033] In one embodiment, the electronic device may also acquire the true distance values ​​measured by two laser rangefinders. The true distance values ​​may be the average of the two distances measured by the two laser rangefinders.

[0034] In step 102, principal component analysis (PCA) is performed on the first point cloud data to obtain the normal vector of the first point cloud data.

[0035] In step 103, the projection component of at least one point in the first point cloud data in the direction of the normal vector is calculated.

[0036] In one embodiment, in steps 102-103, principal component analysis (PCA) of the first point cloud data can be performed using existing technology. The specific operation process of PCA analysis will not be described here. The smallest component of the PCA component obtained from PCA analysis of the point cloud data is the normal vector of the first point cloud data, i.e., the perpendicular direction from the laser radar incident on the target. Then, the projection component of each point in the point cloud data in the direction of the normal vector can be calculated.

[0037] In step 104, the mean and variance of the projection components of the at least one point in the direction of the normal vector are calculated.

[0038] In one embodiment, the mean value of the projection component of at least one point in the direction of the normal vector can be calculated to obtain the distance measured by the lidar under test emitted onto the target panel.

[0039] In step 105, an error measurement file is generated, which includes the true distance value, the mean value, and the variance, wherein the true distance value is obtained by measuring the distance emitted by the two laser rangefinders onto the target panel.

[0040] In steps 101-105 above, when lidar error measurement is required, the first point cloud data generated by the lidar under test emitted onto the target panel is acquired; principal component analysis (PCA) is performed on the first point cloud data to obtain the normal vector of the first point cloud data; the projection component of at least one point in the first point cloud data in the direction of the normal vector is calculated; the mean and variance of the projection component of the at least one point in the direction of the normal vector are calculated; an error measurement file is generated, which includes the true distance value, the mean, and the variance, wherein the true distance value is obtained by measuring the distance emitted onto the target panel by the two laser rangefinders. This disclosed technical solution can achieve error measurement of the lidar under test by installing two laser rangefinders and the lidar under test on a test platform, that is, it does not require a dedicated, large-scale lidar detection device. Compared with the method of using dedicated, large-scale lidar detection equipment, this disclosed technical solution is not only fast and intuitive, but also low in cost and simple to operate.

[0041] To better illustrate the lidar error measurement scheme of this disclosure, another embodiment is described below.

[0042] Figure 2A This is a flowchart of yet another embodiment of the lidar error measurement method disclosed herein. Figure 2B This is a schematic diagram illustrating an application scenario of the lidar error measurement method disclosed herein; this embodiment provides an exemplary description of how to measure lidar errors, such as... Figure 2A As shown, it includes the following steps: In step 201, the position and orientation of the lidar under test, the two laser rangefinders, and the target panel are detected.

[0043] In one embodiment, an image acquisition device can be controlled to acquire at least one image of the scene and send the acquired image to an electronic device for identification and processing to determine whether the positions of the lidar under test and the two laser rangefinders meet the set conditions. Alternatively, a laser beam can be sent to a target panel, and the attitude can be determined based on the beam point and point cloud data generated by the sent laser beam on the target panel. For details, please refer to [link to relevant documentation]. Figure 3A The illustrated embodiment is used to detect whether the set conditions are met, which will not be described in detail here.

[0044] In one embodiment, the specific conditions may include: the two laser rangefinders are parallel, and the origin of the coordinates of the laser radar under test is on the straight line where the origins of the two laser rangefinders are located; the distances of the two laser rangefinders from the edge of the test platform are equal; and when the laser radar under test is a single-line laser radar, the points of the laser radar under test and the two laser rangefinders are all on the same horizontal line; when the laser radar under test is a multi-line laser radar, the target panel needs to be placed vertically, that is, the laser beam emitted by the laser radar under test is perpendicular to the target panel.

[0045] In step 202, in response to the fact that the position and attitude of the lidar under test, the two laser rangefinders and the target panel do not meet the set conditions, the position and attitude of the lidar under test and / or the two laser rangefinders and / or the target panel are adjusted.

[0046] In one embodiment, if the position and orientation of the lidar under test, the two laser rangefinders, and the target panel do not meet the set conditions, the position and orientation of the lidar under test and / or the two laser rangefinders can be adjusted by sending a command to the test platform until the set conditions are met; or a prompt message can be generated to prompt the user to adjust the position and orientation of the lidar under test and / or the two laser rangefinders and / or the target panel.

[0047] In step 203, in response to the position and attitude of the lidar under test, the two laser rangefinders and the target panel meeting the set conditions, the operation of acquiring the point cloud data generated by the lidar under test emitted onto the target panel is performed.

[0048] In step 204, principal component analysis (PCA) is performed on the first point cloud data to obtain the normal vector of the first point cloud data.

[0049] In step 205, the projection component of at least one point in the first point cloud data in the direction of the normal vector is calculated; In step 206, the mean and variance of the projection components of the at least one point in the direction of the normal vector are calculated; In step 207, an error measurement file is generated, which includes the true distance value, the mean, and the variance, wherein the true distance value is obtained by measuring the distance emitted by the two laser rangefinders onto the target panel.

[0050] In one embodiment, the description of steps 203 to 207 can be found in [reference needed]. Figure 2A The illustrated embodiment is not described in detail here.

[0051] Through steps 201 to 207 above, the position and orientation of the lidar under test, the two laser rangefinders, and the target panel are checked to see if they meet the set conditions. If the set conditions are not met, the position and orientation of the lidar under test, the two laser rangefinders, and the target panel are adjusted to ensure high accuracy in error measurement of the lidar under test.

[0052] Figure 3A This is a flowchart illustrating the process of determining whether the position and orientation of the lidar and laser rangefinder meet the conditions in the lidar error measurement method disclosed herein. Figure 3B for Figure 3A The flowchart shown in the embodiment illustrates whether the light directions of the lidar and laser rangefinder meet certain conditions. This embodiment uses the example of how to detect whether the position and orientation of the lidar and laser rangefinder meet certain conditions for illustrative purposes. Figure 3A As shown, it includes the following steps: In step 301, the image acquisition device is controlled to acquire at least one image, wherein the at least one image includes the lidar under test, the two laser rangefinders, and the test platform.

[0053] In one embodiment, the image acquisition unit can be connected to an electronic device via a pan-tilt unit. The electronic device can control the image acquisition unit to acquire images containing the lidar under test, two laser rangefinders, and the test platform via commands. To accurately identify the positions of the lidar under test, the two laser rangefinders, and the test platform through images, multiple images from different directions and angles can be acquired.

[0054] In step 302, the at least one image is processed for recognition to determine the distance between the two laser rangefinders and the same edge of the test platform.

[0055] In one embodiment, by performing recognition processing on at least one image, and through image depth recognition and other image recognition algorithms, the distances between the two laser rangefinders and the same edge of the test platform can be calculated. If the distances between the two laser rangefinders and the same edge of the test platform are not equal, step 303 is executed; if the distances between the two laser rangefinders and the same edge of the test platform are equal, step 304 is executed.

[0056] In step 303, in response to the fact that the distances between the two laser rangefinders and the same edge of the test platform are not equal, the position of the corner platform on which the first laser rangefinder is installed is adjusted.

[0057] In one embodiment, after adjusting the position of the angle platform on which the first laser rangefinder is installed, step 301 can be executed.

[0058] In one embodiment, the first laser rangefinder is either one of the two laser rangefinders. To reduce costs, of the two laser rangefinders, one laser rangefinder (the first laser rangefinder) can be connected to the test platform via an angle positioning platform, while the other laser rangefinder can be directly fixed to the test platform.

[0059] In one embodiment, the position of the corner platform on which the first laser rangefinder is mounted can be adjusted forward or backward. After the position is adjusted, the image acquisition device can continue to acquire at least one image until it is identified that the distances between the two laser rangefinders and the same edge of the test platform are equal.

[0060] In step 304, in response to the fact that the distances between the two laser rangefinders and the same edge of the test platform are equal, it is determined whether the coordinate origin of the lidar under test is located on the straight line where the origins of the two laser rangefinders are located.

[0061] In one embodiment, it can be determined whether the coordinate origin of the lidar under test lies on the straight line containing the origins of the two laser rangefinders by analyzing at least one acquired image. If the coordinate origin of the lidar under test lies on the straight line containing the origins of the two laser rangefinders, step 306 is executed; if the coordinate origin of the lidar under test does not lie on the straight line containing the origins of the two laser rangefinders, step 305 is executed.

[0062] In step 305, in response to the fact that the coordinate origin of the lidar under test is not on the straight line where the origins of the two laser rangefinders are located, the position of the angle platform on which the lidar under test is installed is adjusted.

[0063] In one embodiment, after adjusting the position of the corner stage on which the lidar under test is installed, step 301 can be executed.

[0064] In one embodiment, the position of the corner stage on which the lidar under test is installed can be adjusted forward or backward. After the position is adjusted, the image acquisition device can continue to acquire at least one image until it is identified that the coordinate origin of the lidar under test is on the straight line where the origins of the two laser rangefinders are located.

[0065] In step 306, in response to the fact that the coordinate origin of the lidar under test is on the straight line where the origins of the two laser rangefinders are located, it is detected whether the light direction of the lidar under test and the two laser rangefinders meets the light setting conditions.

[0066] In one embodiment, it can be achieved by Figure 3B The illustrated embodiment identifies whether the light directions of the lidar under test and the two laser rangefinders meet the light setting conditions. See also Figure 3B This includes the following steps 361 to 368: In step 361, the distance between the beam points emitted by the two laser rangefinders onto the target panel is obtained.

[0067] In step 362, the difference between the distance between the beam points and the distance between the two laser rangefinders is calculated.

[0068] In one embodiment, during steps 361-362, the target panel can be moved to a relatively far distance (e.g., 10m away) to ensure that the plane of the target panel is perpendicular to the test platform (in specific implementation, the test platform and the target panel can be placed against the same wall at the same time). At the same time, the distance between the two beam points of the laser beams emitted by the two laser rangefinders on the target panel is measured, and then the difference between the distance between the beam points and the distance between the origins of the two laser rangefinders is calculated. If the difference is 0, step 364 is executed; if the difference is not 0, step 363 is executed.

[0069] In one embodiment, the test platform can automatically obtain the position of the beam point by transmitting the beam emission information emitted by the laser rangefinder, and transmit the position of the beam point to the electronic device.

[0070] In step 363, in response to the difference not being 0, the attitude of the angular platform on which the first laser rangefinder is mounted is adjusted.

[0071] In one embodiment, the parallelism of the light beams from the two laser rangefinders can be further tested by adjusting the orientation of the angle platform on which the first laser rangefinder is mounted, such as its orientation. After adjusting the orientation of the angle platform on which the first laser rangefinder is mounted, step 361 can be executed.

[0072] In step 364, in response to the difference being 0, the second point cloud data emitted by the lidar under test onto the target panel is acquired.

[0073] In one embodiment, to implement the embodiments of this disclosure, two small reflective strips with specific reflectivities can be pre-attached to the target panel on the same horizontal line as the two laser rangefinder target points. The electronic device can then determine whether the laser beam emitted by the laser radar is reflected onto the reflective strips based on the reflection intensity of the point cloud. Specifically, firstly, debugging point cloud data emitted by the laser radar under test onto the target panel can be acquired; in response to the reflection intensity of the debugging point cloud data being greater than a set intensity threshold, it is determined that the laser radar under test is emitted onto the reflective strips set on the target panel; in response to the reflection intensity of the debugging point cloud data not being greater than the set intensity threshold, the attitude of the angle stage on which the laser radar under test is mounted is adjusted, and the operation of acquiring the debugging point cloud data emitted by the laser radar under test onto the target panel is performed.

[0074] In step 365, a straight line is fitted to the second point cloud data to obtain a fitted straight line.

[0075] In one embodiment, after determining that the point cloud data of the lidar under test can be emitted to the reflective strip, the point cloud data on the target panel can be fitted with a straight line to obtain the fitted straight line.

[0076] In step 366, the first angle between the direction vector of the fitted straight line and the vector of the 90-degree horizontal line direction of the lidar under test is calculated.

[0077] In one embodiment, the first angle between the direction vector of the fitted straight line and the vector represented by the point at the 90° horizontal line of the lidar is calculated. When the first angle is 90 degrees, it is considered that the points of the lidar and the laser rangefinder are both on the same horizontal line, and step 367 is executed. When the first angle is not 90 degrees, step 368 is executed.

[0078] In step 367, in response to the first included angle being 90 degrees, it is determined that the light directions of the lidar under test and the two laser rangefinders meet the light setting conditions.

[0079] In step 368, in response to the first included angle not being 90 degrees, the attitude of the angle stage on which the lidar under test is installed is adjusted.

[0080] In one embodiment, after adjusting the attitude of the angle stage on which the lidar under test is installed, the operation of acquiring the second point cloud data emitted by the lidar under test onto the target panel is performed, that is, step 364 is executed.

[0081] In one embodiment, when the lidar under test is a multi-line lidar, PCA analysis can be performed on the second point cloud data obtained in step 364 to obtain the minimum component; the second angle between the vector of the minimum component and the vector of the lidar under test along a 90-degree horizontal line can be calculated; in response to the second angle being less than a set angle threshold, it is determined that the placement angle of the target panel meets the set conditions; in response to the second angle being not less than the set angle threshold, a prompt message is generated, which is used to prompt the user to adjust the placement angle of the target panel. Thus, the user can adjust the placement angle of the target panel to be perpendicular to the ground, specifically by adjusting the loosening screws to adjust the angle of the target panel.

[0082] Through steps 301 to 306 above, the position and attitude of the lidar under test, the laser rangefinder, and the target panel can be adjusted, ensuring high accuracy and effective measurement of the lidar under test error.

[0083] Corresponding to the embodiments of the aforementioned lidar error measurement method, this disclosure also provides embodiments of lidar error measurement devices.

[0084] Figure 4 This is a schematic diagram of one embodiment of the lidar error measurement device disclosed herein. This device is applied to electronic devices (such as computer systems, servers, etc.). Figure 4 As shown, the device includes: The first acquisition module 41 is used to acquire the first point cloud data generated by the laser radar under test transmitting to the target panel; The first analysis module 42 is used to perform principal component analysis (PCA) on the first point cloud data to obtain the normal vector of the first point cloud data. The first calculation module 43 is used to calculate the projection component of at least one point in the first point cloud data in the direction of the normal vector. The second calculation module 44 is used to calculate the mean and variance of the projection components of the at least one point in the direction of the normal vector. The generation module 45 is used to generate an error measurement file, which includes the true distance value, the mean value, and the variance. The true distance value is obtained by measuring the distance emitted by the two laser rangefinders onto the target panel.

[0085] Figure 5 This is a schematic diagram of another embodiment of the lidar error measuring device disclosed herein, as shown below. Figure 5 As shown, in Figure 4 Based on the illustrated embodiment, in one embodiment, the apparatus further includes: The detection module 46 is used to detect the position and attitude of the lidar under test, the two laser rangefinders, and the target panel.

[0086] The first acquisition module 41 is used to perform the operation of acquiring point cloud data generated by the laser radar under test and transmitted to the target panel in response to the position and attitude of the laser radar under test, the two laser rangefinders and the target panel meeting the set conditions. The first adjustment module 47 is used to adjust the position and attitude of the lidar under test and / or the two laser rangefinders and / or the target panel in response to the fact that the position and attitude of the lidar under test, the two laser rangefinders and / or the target panel do not meet the set conditions.

[0087] In one embodiment, the detection module 46 includes: The acquisition submodule 461 is used to control the image acquisition device to acquire at least one image, wherein the at least one image includes the lidar under test, the two laser rangefinders and the test platform; The recognition submodule 462 is used to perform recognition processing on the at least one image to determine the distance between the two laser rangefinders and the same edge of the test platform; The first adjustment submodule 463 is used to adjust the position of the corner platform on which the first laser rangefinder is installed in response to the fact that the distances between the two laser rangefinders and the same edge of the test platform are not equal, and to perform the operation of the control image acquisition device to acquire at least one image, wherein the first laser rangefinder is either of the two laser rangefinders. The first determining submodule 464 is used to determine whether the coordinate origin of the lidar under test is located on the straight line where the origins of the two laser rangefinders are located, in response to the fact that the distances between the two laser rangefinders and the same edge of the test platform are equal. The second adjustment submodule 465 is used to adjust the position of the angle platform on which the lidar under test is installed in response to the fact that the coordinate origin of the lidar under test is not on the straight line where the origins of the two laser rangefinders are located, and to perform the operation of the control image acquisition device to acquire at least one image. The detection submodule 466 is used to detect whether the light direction of the laser radar under test and the two laser rangefinders meets the light setting conditions in response to the fact that the coordinate origin of the laser radar under test is on the straight line where the origins of the two laser rangefinders are located.

[0088] In one embodiment, the detection submodule 466 includes: The first acquisition submodule 4661 is used to acquire the distance between the beam points emitted by the two laser rangefinders to the target panel; The first calculation submodule 4662 is used to calculate the difference between the distance between the beam points and the distance between the two laser rangefinders; The third adjustment submodule 4663 is used to adjust the attitude of the angle platform on which the first laser rangefinder is installed in response to the difference not being 0, and to perform the operation of obtaining the distance between the beam points emitted by the two laser rangefinders to the target panel. The second acquisition submodule 4664 is used to acquire the second point cloud data emitted by the lidar under test onto the target panel in response to the difference value being 0. The line fitting submodule 4665 is used to perform line fitting on the second point cloud data to obtain a fitted line; The second calculation submodule 4666 is used to calculate the first angle between the direction vector of the fitted straight line and the vector of the 90-degree horizontal line direction of the lidar under test; The determination submodule 4667 is used to determine, in response to the first included angle being 90 degrees, that the light directions of the laser radar under test and the two laser rangefinders meet the light setting conditions. The fourth adjustment submodule 4668 is used to adjust the attitude of the angle stage on which the lidar under test is installed in response to the first included angle not being 90 degrees, and to perform the operation of acquiring the second point cloud data emitted by the lidar under test onto the target panel.

[0089] In one embodiment, when the lidar under test is a multi-line lidar, the device further includes: The second analysis module 48 is used to perform PCA analysis on the second point cloud data to obtain the minimum components; The third calculation module 49 is used to calculate the second angle between the vector of the minimum component and the vector of the 90-degree horizontal line direction of the lidar under test; The first determination module 50 is used to determine that the placement angle of the target panel meets the set conditions in response to the second included angle being less than a set angle threshold. The prompting module 51 is used to generate a prompting message in response to the second included angle being not less than the set angle threshold. The prompting message is used to prompt the user to adjust the placement angle of the target panel.

[0090] In one embodiment, before acquiring the second point cloud data emitted by the lidar under test onto the target panel, the device further includes: The second acquisition module 52 is used to acquire the debugging point cloud data emitted by the lidar under test onto the target panel; The second determination module 53 is used to determine, in response to the fact that the reflection intensity of the debugging point cloud data is greater than a set intensity threshold, that the lidar under test emits light onto the reflective strip set on the target panel. The second adjustment module 54 is used to adjust the attitude of the angle stage on which the lidar under test is installed in response to the fact that the reflection intensity of the debugging point cloud data is not greater than a set intensity threshold, and to perform the operation of acquiring the debugging point cloud data emitted by the lidar under test onto the target panel.

[0091] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0092] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this disclosure according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0093] Below, for reference Figure 6 This describes an electronic device according to embodiments of the present disclosure, wherein apparatus for implementing methods according to embodiments of the present disclosure may be integrated. Figure 6 This is a structural diagram of an electronic device provided in an illustrative embodiment of the present disclosure, such as... Figure 6 As shown, the electronic device includes one or more processors 61, one or more memory 62s of computer-readable storage media, and a computer program stored in the memory and executable on the processor. When the program in the memory 62 is executed, the aforementioned lidar error measurement method can be implemented.

[0094] Specifically, in practical applications, the electronic device may also include components such as an input device 63 and an output device 64, which are interconnected via a bus system and / or other forms of connection mechanisms (not shown). Those skilled in the art will understand that... Figure 6 The structure of the electronic device shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or certain components, or different component arrangements. Wherein: The processor 61 may be a central processing unit (CPU) or other form of processing unit with data processing and / or instruction execution capabilities. It performs various functions and processes data by running or executing software programs and / or modules stored in memory 62 and calling data stored in memory 62, thereby providing overall monitoring of the electronic device.

[0095] The memory 62 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 61 may execute the program instructions to implement the lidar error measurement methods of the various embodiments of this disclosure described above and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0096] The input device 63 can be used to receive input digital or character information, and to generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0097] The output device 64 can output various information to the outside, including determined distance information, direction information, etc. The output device 64 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0098] The electronic device may also include a power supply for powering various components, which can be logically connected to the processor 61 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. The power supply may also include one or more DC or AC power sources, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and any other components.

[0099] Of course, for the sake of simplicity, Figure 6 Only some of the components of the electronic device relevant to this disclosure are shown, omitting components such as buses and input / output interfaces. In addition, the electronic device may include any other suitable components depending on the specific application.

[0100] In addition to the methods and apparatus described above, embodiments of this disclosure may also be computer program products comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the lidar error measurement methods according to various embodiments of this disclosure as described in the "Exemplary Methods" section of this specification.

[0101] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this disclosure. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on a user's computing device, partially on a user's computing device, as a standalone software package, partially on a user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0102] Furthermore, embodiments of this disclosure may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the lidar error measurement methods according to various embodiments of this disclosure as described in the "Exemplary Methods" section above.

[0103] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0104] The basic principles of this disclosure have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the necessity of employing the aforementioned specific details for implementation.

[0105] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For system embodiments, since they largely correspond to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0106] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0107] The methods and apparatus of this disclosure may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of this disclosure are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, this disclosure may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the methods according to this disclosure. Thus, this disclosure also covers recording media storing programs for performing the methods according to this disclosure.

[0108] The description in this disclosure is provided for illustrative and descriptive purposes only and is not intended to be exhaustive or to limit the disclosure to its forms. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of this disclosure and to enable those skilled in the art to understand this disclosure and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A method for measuring lidar error, characterized in that, The method, applicable to scenarios where a lidar under test and two laser rangefinders are configured on the same test platform, and the origin of the lidar under test lies on the straight line containing the origins of the two laser rangefinders, includes: Acquire the first point cloud data generated by the lidar under test emitted onto the target panel; Principal component analysis (PCA) is performed on the first point cloud data to obtain the normal vector of the first point cloud data. Calculate the projection components of multiple points in the first point cloud data along the direction of the normal vector; Calculate the mean and variance of the projection components of multiple points in the first point cloud data along the direction of the normal vector; An error measurement file is generated, which includes the true distance value, the mean, and the variance, wherein the true distance value is obtained by measuring the distance emitted by the two laser rangefinders onto the target panel; The method further includes: The position and orientation of the lidar under test, the two laser rangefinders, and the target panel are detected; in response to the position and orientation of the lidar under test, the two laser rangefinders, and the target panel meeting the set conditions, the operation of acquiring the point cloud data generated by the lidar under test transmitted to the target panel is executed. In response to the fact that the position and orientation of the lidar under test, the two laser rangefinders and the target panel do not meet the set conditions, the position and orientation of the lidar under test and / or the two laser rangefinders and / or the target panel are adjusted.

2. The method according to claim 1, characterized in that, The detection of the position and orientation of the lidar under test, the two laser rangefinders, and the target panel includes: The image acquisition device is controlled to acquire at least one image, wherein the at least one image includes the lidar under test, the two laser rangefinders, and the test platform; The at least one image is processed for recognition to determine the distance between the two laser rangefinders and the same edge of the test platform, wherein the same edge is one of the front edge and the back edge; In response to the fact that the distances between the two laser rangefinders and the same edge of the test platform are not equal, the position of the corner platform on which the first laser rangefinder is installed is adjusted, and the operation of the control image acquisition device to acquire at least one image is executed, wherein the first laser rangefinder is either of the two laser rangefinders; In response to the fact that the distances between the two laser rangefinders and the same edge of the test platform are equal, it is determined whether the coordinate origin of the lidar under test is located on the straight line where the origins of the two laser rangefinders are located; In response to the fact that the coordinate origin of the lidar under test is not on the straight line where the origins of the two laser rangefinders are located, the position of the angle platform on which the lidar under test is installed is adjusted, and the operation of the control image acquisition device to acquire at least one image is executed. In response to the fact that the origin of the lidar under test is located on the straight line where the origins of the two laser rangefinders are located, it is detected whether the beam direction of the lidar under test and the two laser rangefinders meets the beam setting conditions.

3. The method according to claim 2, characterized in that, The detection of whether the beam directions of the lidar under test and the two laser rangefinders meet the beam setting conditions includes: The distance between the beam points emitted by the two laser rangefinders onto the target panel is obtained; Calculate the difference between the distance between the beam points and the distance between the two laser rangefinders; In response to the difference being non-zero, the attitude of the angle platform on which the first laser rangefinder is installed is adjusted, and the operation of obtaining the distance between the beam points emitted by the two laser rangefinders to the target panel is performed. In response to the difference being 0, the second point cloud data emitted by the lidar under test onto the target panel is acquired; The second point cloud data is fitted with a straight line to obtain the fitted straight line; Calculate the first angle between the direction vector of the fitted straight line and the vector of the 90-degree horizontal line direction of the lidar under test; In response to the first included angle being 90 degrees, it is determined that the beam directions of the lidar under test and the two laser rangefinders meet the beam setting conditions. In response to the first included angle not being 90 degrees, the attitude of the angle stage on which the lidar under test is installed is adjusted, and the operation of acquiring the second point cloud data emitted by the lidar under test onto the target panel is performed.

4. The method according to claim 3, characterized in that, When the lidar under test is a multi-line lidar, the method further includes: PCA analysis was performed on the second point cloud data to obtain the minimum component; Calculate the second angle between the vector of the minimum component and the vector of the lidar under test at a 90-degree horizontal angle; In response to the second included angle being less than a set angle threshold, it is determined that the placement angle of the target panel meets the set conditions; In response to the second included angle being not less than the set angle threshold, a prompt message is generated, which is used to prompt the user to adjust the placement angle of the target panel.

5. The method according to claim 3, characterized in that, Before acquiring the second point cloud data emitted by the lidar under test onto the target panel, the method further includes: Acquire the debugging point cloud data emitted by the lidar under test onto the target panel; In response to the fact that the reflection intensity of the debug point cloud data is greater than a set intensity threshold, it is determined that the lidar under test is emitted to the reflective strip set on the target panel; In response to the fact that the reflection intensity of the debug point cloud data is not greater than a set intensity threshold, the attitude of the angle stage on which the lidar under test is installed is adjusted, and the operation of acquiring the debug point cloud data emitted by the lidar under test onto the target panel is performed.

6. A lidar error measuring device, characterized in that, The device is applicable to scenarios where a lidar under test and two laser rangefinders are configured on the same test platform, and the origin of the lidar under test lies on the straight line where the origins of the two laser rangefinders are located. The device includes: The first acquisition module is used to acquire the first point cloud data generated by the lidar under test transmitting data to the target panel. The first analysis module is used to perform principal component analysis (PCA) on the first point cloud data to obtain the normal vector of the first point cloud data. The first calculation module is used to calculate the projection components of multiple points in the first point cloud data in the direction of the normal vector. The second calculation module is used to calculate the mean and variance of the projection components of multiple points in the first point cloud data along the direction of the normal vector. A generation module is used to generate an error measurement file, which includes the true distance value, the mean value, and the variance. The true distance value is obtained by measuring the distance emitted by the two laser rangefinders onto the target panel. The device further includes: The detection module is used to detect the position and orientation of the lidar under test, the two laser rangefinders, and the target panel; The first acquisition module is used to perform the operation of acquiring point cloud data generated by the lidar under test and transmitted to the target panel in response to the position and attitude of the lidar under test, the two laser rangefinders and the target panel meeting the set conditions. The first adjustment module is used to adjust the position and attitude of the lidar under test and / or the two laser rangefinders and / or the target panel in response to the fact that the position and attitude of the lidar under test, the two laser rangefinders and / or the target panel do not meet the set conditions.

7. The apparatus according to claim 6, characterized in that, The detection module includes: The acquisition submodule is used to control the image acquisition device to acquire at least one image, wherein the at least one image includes the lidar under test, the two laser rangefinders and the test platform; The recognition submodule is used to perform recognition processing on the at least one image to determine the distance between the two laser rangefinders and the same edge of the test platform, wherein the same edge is one of the front edge and the back edge; The first adjustment submodule is used to adjust the position of the corner platform on which the first laser rangefinder is installed in response to the fact that the distances between the two laser rangefinders and the same edge of the test platform are not equal, and to perform the operation of the control image acquisition device to acquire at least one image, wherein the first laser rangefinder is either of the two laser rangefinders; The first determining submodule is used to determine whether the coordinate origin of the lidar under test is located on the straight line where the origins of the two laser rangefinders are located, in response to the fact that the distances between the two laser rangefinders and the same edge of the test platform are equal. The second adjustment submodule is used to adjust the position of the angle platform on which the lidar under test is installed in response to the fact that the coordinate origin of the lidar under test is not on the straight line where the origins of the two laser rangefinders are located, and to perform the operation of the control image acquisition device to acquire at least one image. The detection submodule is used to detect whether the beam directions of the lidar under test and the two laser rangefinders meet the beam setting conditions in response to the fact that the coordinate origin of the lidar under test is on the straight line where the origins of the two laser rangefinders are located.

8. The apparatus according to claim 7, characterized in that, The detection submodule includes: The first acquisition submodule is used to acquire the distance between the beam points emitted by the two laser rangefinders onto the target panel; The first calculation submodule is used to calculate the difference between the distance between the beam points and the distance between the two laser rangefinders; The third adjustment submodule is used to adjust the attitude of the angle platform on which the first laser rangefinder is installed in response to the difference being non-zero, and to perform the operation of obtaining the distance between the beam points emitted by the two laser rangefinders to the target panel. The second acquisition submodule is used to acquire the second point cloud data emitted by the lidar under test onto the target panel in response to the difference value being 0. The line fitting submodule is used to perform line fitting on the second point cloud data to obtain a fitted line; The second calculation submodule is used to calculate the first angle between the direction vector of the fitted straight line and the vector of the 90-degree horizontal line direction of the lidar under test; The determination submodule is used to determine, in response to the first included angle being 90 degrees, that the beam directions of the lidar under test and the two laser rangefinders meet the beam setting conditions. The fourth adjustment submodule is used to adjust the attitude of the angle stage on which the lidar under test is installed in response to the first included angle not being 90 degrees, and to perform the operation of acquiring the second point cloud data emitted by the lidar under test onto the target panel.

Images