Calibration processing method and device of laser radar, electronic equipment, storage medium and program product

Abstract

The embodiment of the invention provides a laser radar calibration processing method and device, electronic equipment, a storage medium and a program product, and relates to the technical field of sensor calibration. The method comprises the following steps: in response to a calibration request, obtaining a three-dimensional coordinate of a first preset point on a preset calibration tool; the first preset point is a point at a preset position on the calibration tool; the three-dimensional coordinates are coordinate values of the vehicle terminal in a vehicle body coordinate system. And obtaining point cloud data of the calibration tool through a preset laser radar. Determining a first coordinate and a second coordinate of a second preset point on the calibration tool according to the point cloud data and the three-dimensional coordinate; wherein the first coordinate of the second preset point is a coordinate value under the laser radar coordinate system, and the second coordinate of the second preset point is a coordinate value of the vehicle body coordinate system. Determining calibration parameters according to the first coordinates and the second coordinates; and calibrating the laser radar according to the calibration parameters. The method is used for achieving the effect of improving the calibration precision of the sensor.

Description

Technical Field

[0001] The present application relates to the field of sensor calibration technology, and in particular to a laser radar calibration processing method, device, electronic device, storage medium and program product. Background Art

[0002] At present, LiDAR calibration plays an important role in autonomous driving. LiDAR is one of the most commonly used sensors in autonomous vehicles. It can obtain information such as the position and shape of obstacles in the environment, and convert this information into point cloud data for processing. LiDAR calibration refers to the process of estimating the internal and external parameters of the LiDAR sensor, including internal parameters such as the center of rotation of the laser beam, the tilt angle of the scanning surface, and the divergence of the laser beam, as well as external parameters such as the position and direction of the LiDAR relative to the vehicle coordinate system. The purpose of LiDAR calibration is to accurately represent the point cloud data collected by the LiDAR in the vehicle coordinates for subsequent tasks such as target detection and path planning. Therefore, accurate calibration of LiDAR is critical for the positioning and navigation of autonomous vehicles.

[0003] In the prior art, the external parameter calibration of multi-line mechanical laser radar mostly relies on the joint calibration of laser radar and other sensors, and then converts to the vehicle coordinate system after calibration. For example, the calibration of multi-line laser radar and vision relies on mutually orthogonal black and white chessboard calibration plates, and it is also necessary to ensure that the intensity information of the multi-line laser radar is sufficiently accurate; there is currently no good solution for the calibration of single-line laser, because there is only one line and a small number of points, so the calibration solution is more difficult to design. At present, it can only be based on simple measurement tools such as levels and calipers, and the laser radar installation position and angle are calculated to obtain the calibration parameters of the laser radar.

[0004] However, in the prior art, there is no unified calibration solution that is applicable to both multi-line mechanical laser radar and single-line laser radar. For the calibration of multi-line laser radar, the current solutions are relatively complicated and require the use of other sensors to complete the calibration of multi-line laser. The entire calibration process is relatively complicated, the calibration algorithm is difficult to develop, and there are many sensors involved, and the final calibration accuracy is not high enough; for the calibration of single-line laser, the calibration tools used are complex to make, the calibration accuracy is poor, and they are easy to damage. Summary of the invention

[0005] The embodiments of the present application provide a laser radar calibration processing method, device, electronic device, storage medium and program product to achieve the effect of improving the calibration accuracy of the sensor.

[0006] In a first aspect, an embodiment of the present application provides a laser radar calibration processing method, including:

[0007] In response to a calibration request, obtaining the three-dimensional coordinates of a first preset point on a preset calibration tool; wherein the first preset point is a point at a preset position on the calibration tool; and the three-dimensional coordinates are coordinate values ​​in a vehicle body coordinate system where the vehicle terminal is located;

[0008] Acquire point cloud data of the calibration tool through a preset laser radar; and determine the first coordinates and the second coordinates of a second preset point on the calibration tool according to the point cloud data and the three-dimensional coordinates; wherein the first coordinates are coordinate values ​​in the laser radar coordinate system, and the second coordinates are coordinate values ​​in the vehicle body coordinate system;

[0009] Determine calibration parameters according to the first coordinates and the second coordinates; and calibrate the laser radar according to the calibration parameters.

[0010] In a possible implementation manner, the step of obtaining the point cloud data of the calibration tool by using a preset laser radar includes:

[0011] Based on a preset distance between the preset laser radar and the calibration tool, a laser is emitted to the calibration tool by the preset laser radar to obtain point cloud data of the calibration tool; wherein the point cloud data includes data contained in at least one scan line located on the calibration tool;

[0012] And / or, based on different distances between the preset laser radar and the calibration tool, at each distance, a laser is emitted to the calibration tool by the preset laser radar to obtain point cloud data of the calibration tool; wherein the point cloud data includes data contained in at least one scan line located on the calibration tool.

[0013] In a possible implementation, determining the first coordinates and the second coordinates of the second preset point on the calibration tool according to the point cloud data and the three-dimensional coordinates includes:

[0014] For each scan line, determine an intersection point between the scan line and the calibration tool, and determine the intersection point as a second preset point on the calibration tool;

[0015] Determining the first coordinates of the second preset point;

[0016] Determine the distance between two adjacent second preset points;

[0017] The second coordinates of the second preset points are determined according to the distance between the second preset points, the preset constraint equation group, and the three-dimensional coordinates.

[0018] In a possible implementation manner, the calibration tool is a triangle plate of any shape, and a protruding edge line is provided on the triangle plate, and the edge line passes through any vertex of the triangle plate;

[0019] The scan line is a line passing through the ridge line.

[0020] In a possible implementation, for each scan line, determining the intersection point between the scan line and the calibration tool, and determining the intersection point as a second preset point on the calibration tool includes:

[0021] For each scan line, based on the distance between the laser radar and the calibration tool, traverse the actual distance between each point on the scan line and the calibration tool;

[0022] If it is determined that the actual distance is equal to the distance between the laser radar and the calibration tool, and the point corresponding to the actual distance is located on the edge of the calibration tool, then the point corresponding to the actual distance is determined to be located on the calibration tool, the point corresponding to the actual distance is determined to be an intersection point, and the intersection point is determined to be a second preset point on the calibration tool;

[0023] If it is determined that the actual distance is less than the distance between the laser radar and the calibration tool, the point corresponding to the actual distance is determined to be on the ridge line, the point corresponding to the actual distance is determined to be the intersection point, and the intersection point is determined to be the second preset point on the calibration tool.

[0024] In a possible implementation manner, determining the first coordinates of the second preset point includes:

[0025] If there are multiple scan lines, for each scan line, a preliminary first coordinate of the second preset point is obtained; and the preliminary first coordinate is averaged to obtain an averaged first coordinate;

[0026] The determining the second coordinates of the second preset points according to the distance between the second preset points, the preset constraint equation group, and the three-dimensional coordinates includes:

[0027] If there are multiple scan lines, the preliminary second coordinates of the second preset points are obtained according to the distance between the second preset points, the preset constraint equation group, and the three-dimensional coordinates; and the preliminary second coordinates are averaged to determine the averaged second coordinates.

[0028] In a second aspect, an embodiment of the present application provides a laser radar calibration processing device, including:

[0029] A first acquisition module, configured to acquire the three-dimensional coordinates of a first preset point on a preset calibration tool in response to the calibration request; wherein the first preset point is a point at a preset position on the calibration tool; and the three-dimensional coordinates are coordinate values ​​in a vehicle body coordinate system where the vehicle terminal is located;

[0030] A second acquisition module, used for acquiring point cloud data of the calibration tool through a preset laser radar;

[0031] A first determination module, used to determine the first coordinates and the second coordinates of the second preset point on the calibration tool according to the point cloud data and the three-dimensional coordinates; wherein the first coordinates are coordinate values ​​in the laser radar coordinate system, and the second coordinates are coordinate values ​​in the vehicle body coordinate system;

[0032] A second determination module, used to determine a calibration parameter according to the first coordinate and the second coordinate;

[0033] A calibration module is used to calibrate the laser radar according to the calibration parameters.

[0034] In a possible implementation manner, the second acquisition module is specifically configured to:

[0035] Based on a preset distance between the preset laser radar and the calibration tool, a laser is emitted to the calibration tool by the preset laser radar to obtain point cloud data of the calibration tool; wherein the point cloud data includes data contained in at least one scan line located on the calibration tool;

[0036] And / or, based on different distances between the preset laser radar and the calibration tool, at each distance, a laser is emitted to the calibration tool by the preset laser radar to obtain point cloud data of the calibration tool; wherein the point cloud data includes data contained in at least one scan line located on the calibration tool.

[0037] In a possible implementation manner, the first determining module includes:

[0038] A first determining unit, configured to determine, for each scan line, an intersection point between the scan line and the calibration tool, and determine the intersection point as a second preset point on the calibration tool;

[0039] A second determining unit, used to determine a first coordinate of the second preset point;

[0040] A third determining unit, used to determine the distance between two adjacent second preset points;

[0041] The fourth determination unit is used to determine the second coordinates of the second preset point according to the distance between the second preset points, the preset constraint equation group, and the three-dimensional coordinates.

[0042] In a possible implementation manner, the calibration tool is a triangle plate of any shape, and a protruding edge line is provided on the triangle plate, and the edge line passes through any vertex of the triangle plate;

[0043] The scan line is a line passing through the ridge line.

[0044] In a possible implementation manner, the first determining unit is specifically configured to:

[0045] For each scan line, based on the distance between the laser radar and the calibration tool, traverse the actual distance between each point on the scan line and the calibration tool;

[0046] If it is determined that the actual distance is equal to the distance between the laser radar and the calibration tool, and the point corresponding to the actual distance is located on the edge of the calibration tool, then the point corresponding to the actual distance is determined to be located on the calibration tool, the point corresponding to the actual distance is determined to be an intersection point, and the intersection point is determined to be a second preset point on the calibration tool;

[0047] If it is determined that the actual distance is less than the distance between the laser radar and the calibration tool, the point corresponding to the actual distance is determined to be on the ridge line, the point corresponding to the actual distance is determined to be the intersection point, and the intersection point is determined to be the second preset point on the calibration tool.

[0048] In a possible implementation manner, the second determining unit is specifically configured to:

[0049] If there are multiple scan lines, for each scan line, a preliminary first coordinate of the second preset point is obtained; and the preliminary first coordinate is averaged to obtain an averaged first coordinate;

[0050] The fourth determining unit is specifically configured to:

[0051] If there are multiple scan lines, the preliminary second coordinates of the second preset points are obtained according to the distance between the second preset points, the preset constraint equation group, and the three-dimensional coordinates; and the preliminary second coordinates are averaged to determine the averaged second coordinates.

[0052] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0053] The memory stores computer-executable instructions;

[0054] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0055] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0056] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0057] The laser radar calibration processing method, device, electronic device, storage medium and program product provided in the embodiments of the present application obtain the three-dimensional coordinates of the first preset point on the preset calibration tool in response to a calibration request; wherein the first preset point is a point at a preset position on the calibration tool; and the three-dimensional coordinates are coordinate values ​​in the body coordinate system where the vehicle terminal is located. The point cloud data of the calibration tool is obtained through a preset laser radar. According to the point cloud data and the three-dimensional coordinates, the first coordinates and the second coordinates of the second preset point on the calibration tool are determined; wherein the first coordinates are the coordinate values ​​in the laser radar coordinate system, and the second coordinates are the coordinate values ​​in the body coordinate system. According to the first coordinates and the second coordinates, the calibration parameters are determined; and according to the calibration parameters, the laser radar is calibrated. In this solution, based on the preset calibration tool, the three-dimensional coordinates of the first preset point on the calibration tool are obtained. Obtain the point cloud data of the calibration tool, and determine the first coordinate and the second coordinate of the second preset point on the calibration tool according to the point cloud data and the three-dimensional coordinates; wherein the first coordinate of the second preset point is the coordinate value in the laser radar coordinate system, and the second coordinate of the second preset point is the coordinate value in the vehicle body coordinate system, that is, the first coordinate and the second coordinate are point cloud pairs in the coordinate system. According to the first coordinate and the second coordinate, determine the calibration parameters, and calibrate the laser radar according to the calibration parameters. Therefore, the calibration tool designed and used in this scheme is simple to make, easy to ensure accuracy, and stable and reliable. The laser radar can be calibrated directly through the calibration tool without the need for indirect calibration with the help of other sensors, and is also applicable to multi-line laser radars and single-line laser radars. The entire calibration algorithm is simple to develop, the calibration development is fast, the application is fast, the calibration is convenient, the calibration results are accurate, the external parameter calibration accuracy of the laser radar is high, and more accurate calibration results can be obtained by multiple operations to achieve the effect of improving the calibration accuracy of the sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0059] Figure 1 A schematic diagram of a laser radar calibration method provided in an embodiment of the present application Figure 1 ;

[0060] Figure 2 A schematic diagram of a laser radar calibration method provided in this application Figure 1 ;

[0061] Figure 3 A schematic diagram of a laser radar calibration method provided in this application Figure 2 ;

[0062] Figure 4 Schematic diagram of another laser radar calibration processing method provided in the embodiment of the present application Figure 2 ;

[0063] Figure 5 A schematic diagram of a laser radar calibration method provided in this application Figure 3 ;

[0064] Figure 6 A schematic diagram of the structure of a laser radar calibration processing device provided in an embodiment of the present application;

[0065] Figure 7 A schematic diagram of the structure of another laser radar calibration processing device provided in an embodiment of the present application;

[0066] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0067] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0068] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0069] At present, LiDAR calibration plays an important role in autonomous driving. LiDAR is one of the most commonly used sensors in autonomous vehicles. It can obtain information such as the position and shape of obstacles in the environment, and convert this information into point cloud data for processing. LiDAR calibration refers to the process of estimating the internal and external parameters of the LiDAR sensor, including internal parameters such as the center of rotation of the laser beam, the tilt angle of the scanning surface, and the divergence of the laser beam, as well as external parameters such as the position and direction of the LiDAR relative to the vehicle coordinate system. The purpose of LiDAR calibration is to accurately represent the point cloud data collected by the LiDAR in the vehicle coordinates for subsequent tasks such as target detection and path planning. Therefore, accurate calibration of LiDAR is critical for the positioning and navigation of autonomous vehicles.

[0070] In one example, for the external parameter calibration of a multi-line mechanical laser radar, most of them rely on the joint calibration of the laser radar and other sensors, and then convert them to the vehicle coordinate system after calibration. For example, the calibration of multi-line laser radar and vision relies on mutually orthogonal black and white chessboard calibration plates, and it is also necessary to ensure that the intensity information of the multi-line laser radar is accurate enough; there is currently no good solution for the calibration of single-line lasers, because there is only one line and the number of points is small, so the calibration solution is more difficult to design. At present, it can only be based on simple measurement tools such as levels and calipers. The laser radar’s installation position and angle are calculated to obtain the calibration parameters of the laser radar. However, in the prior art, there is no unified calibration solution that is applicable to the calibration of both multi-line mechanical laser radars and single-line laser radars. For the calibration of multi-line laser radar, the current solutions are relatively complicated and require the use of other sensors to complete the calibration of multi-line lasers. The entire calibration process is relatively complicated, the calibration algorithm is difficult to develop, and there are many sensors involved. The final calibration accuracy is not high enough. For the calibration of single-line lasers, the calibration tools used are complex to make, have poor calibration accuracy, and are easily damaged.

[0071] In combination with the above scenarios, it can be seen that in the prior art, there are technical problems such as complex calibration methods and poor calibration accuracy.

[0072] The laser radar calibration processing method provided by the present application is simple to manufacture, easy to ensure accuracy, and stable and reliable. The laser radar can be calibrated directly through the calibration tool without the need for indirect calibration with the help of other sensors, and is applicable to both multi-line laser radar and single-line laser radar. The entire calibration algorithm is simple to develop, the calibration development is fast, the application is fast, the calibration is convenient, the calibration results are accurate, the external parameter calibration accuracy of the laser radar is high, and more accurate calibration results can be obtained by multiple operations, so as to achieve the effect of improving the calibration accuracy of the sensor.

[0073] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0074] Figure 1 A schematic diagram of a laser radar calibration method provided in this application Figure 1 ,like Figure 1 As shown, the method includes:

[0075] S201. In response to a calibration request, obtain the three-dimensional coordinates of a first preset point on a preset calibration tool; wherein the first preset point is a point at a preset position on the calibration tool; and the three-dimensional coordinates are coordinate values ​​in a vehicle body coordinate system where the vehicle terminal is located.

[0076] For example, the execution subject of this embodiment may be an electronic device, or a terminal device, or a calibration processing device or device, or other devices or equipment that can execute this embodiment, and there is no limitation on this. In this embodiment, the execution subject is introduced as an electronic device.

[0077] Figure 2 A schematic diagram of a laser radar calibration method provided in this application Figure 1 ,like Figure 2 As shown, the preset calibration tool is a triangle plate of any shape, which includes a raised edge line passing through one of the vertices. Figure 2 The ridge line in the figure is a line in the front view. If it is in the side view, the side view is a rectangle, and the width of the rectangle is the height of the protrusion of the ridge line. The height of the ridge line is greater than the preset height threshold, and the height threshold is not limited. Specifically, the triangle plate includes points A, B, C and D. The e side is between A and C, the f side is between B and C, the c side is between C and D, the a side is between A and D, and the b side is between B and D. The angle between AC and CD is α, and the angle between DC and CB is β. The lengths and angles of each side of the triangle plate can be measured in advance. The triangle plate can be placed in a calibration frame, calibration wall and other locations. The calibration tool has the characteristics of low cost, simple production, high precision, low requirements, and stable and reliable.

[0078] In this step, first, after assembling the laser radar on a robot, unmanned vehicle or other device (collectively referred to as the body), find a flat ground to at least ensure that the body can be placed within the required high-precision detection range, such as 20m, etc., without limitation. Among them, the laser radar can be a mechanical laser radar or other laser radar, without limitation. After the deployment is completed, calibration can begin, and the electronic device obtains a calibration request.

[0079] Then place the calibration tool within the detection range of the laser radar on the vehicle body, m away in front, and the distance m is not limited. The three-dimensional coordinates of the first preset point on the calibration tool can be obtained manually through a coordinate meter or other measuring tools, where the first preset point includes points A, B, C and D. The three-dimensional coordinates of the first preset points A, B, C and D in the vehicle body coordinate system are P Aveh (x,y,z),P Bveh (x,y,z),P Cveh (x,y,z),P Dveh (x, y, z). Then, the electronic device obtains the three-dimensional coordinates of the first preset point on the calibration tool based on the user's input operation.

[0080] S202, obtaining point cloud data of the calibration tool through a preset laser radar.

[0081] For example, the preset laser radar takes a mechanical laser radar as an example, and the mechanical laser radar scans the calibration tool in front and reads the point cloud data of the calibration tool. The scanning schematic diagram is shown as follows: Figure 3 As shown, Figure 3 A schematic diagram of a laser radar calibration method provided in this application Figure 2 , where the dotted line is the scanning line of the laser radar, and the points on the dotted line are the positions of the mechanical laser radar's multiple line scans on the calibration tool and the point cloud data read. The distance between adjacent points on each scanning line is the same.

[0082] S203. Determine the first coordinate and the second coordinate of the second preset point on the calibration tool according to the point cloud data and the three-dimensional coordinates; wherein the first coordinate is the coordinate value in the laser radar coordinate system, and the second coordinate is the coordinate value in the vehicle body coordinate system.

[0083] For example, Figure 3 As shown in the figure, taking one of the scan lines as an example, the intersection points of the scan line scanned on the calibration tool and the calibration tool are O, P, and Q, and O, P, and Q are the second preset points. First, in the point cloud data of the laser radar, the three intersection points O, P, and Q can be obtained by the distance between the calibration tool and the mechanical laser radar, and then the first coordinates of the three intersection points in the laser radar coordinate system can be obtained; among them, the coordinate of point O P Olidar (x Olidar ,y Olidar ,z Olidar ), coordinates of point P Plidar (x Plidar ,y Plidar ,z Plidar ), coordinates of point Q P Qlidar (x Qlidar ,yQlidar ,z Qlidar ). Then, the second coordinate of the second preset point is determined by the first coordinate and the three-dimensional coordinate of the second preset point.

[0084] S204, determining calibration parameters according to the first coordinate and the second coordinate; and calibrating the laser radar according to the calibration parameters.

[0085] Exemplarily, since the first coordinate is the coordinate value in the laser radar coordinate system and the second coordinate is the coordinate value in the vehicle body coordinate system, the calibration parameters for converting the first coordinate to the second coordinate can be calculated based on the first coordinate and the second coordinate, and the laser radar can be calibrated based on the calibration parameters.

[0086] The laser radar calibration processing method provided in the embodiment of the present application, in response to the calibration request, obtains the three-dimensional coordinates of the first preset point on the preset calibration tool; wherein the first preset point is a point at a preset position on the calibration tool; the three-dimensional coordinates are the coordinate values ​​in the body coordinate system where the vehicle terminal is located. The point cloud data of the calibration tool is obtained by the preset laser radar. According to the point cloud data and the three-dimensional coordinates, the first coordinates and the second coordinates of the second preset point on the calibration tool are determined; wherein the first coordinate of the second preset point is the coordinate value in the laser radar coordinate system, and the second coordinate of the second preset point is the coordinate value in the body coordinate system. According to the first coordinate and the second coordinate, the calibration parameters are determined; and according to the calibration parameters, the laser radar is calibrated. In this scheme, based on the preset calibration tool, the three-dimensional coordinates of the first preset point on the calibration tool are obtained. The point cloud data of the calibration tool is obtained, and the first coordinates and the second coordinates of the second preset point on the calibration tool are determined according to the point cloud data and the three-dimensional coordinates; wherein the first coordinate is the coordinate value in the laser radar coordinate system, and the second coordinate is the coordinate value in the body coordinate system, that is, the first coordinate and the second coordinate are point cloud pairs in the coordinate system. According to the first coordinate and the second coordinate, the calibration parameters are determined, and the laser radar is calibrated according to the calibration parameters. Therefore, the calibration tool designed and used in this scheme is simple to make, easy to ensure accuracy, and stable and reliable. The laser radar can be calibrated directly through the calibration tool without the need for indirect calibration with the help of other sensors, and it is also applicable to both multi-line laser radar and single-line laser radar. The entire calibration algorithm is simple to develop, the calibration development is fast, the application is fast, the calibration is convenient, the calibration results are accurate, the external parameter calibration accuracy of the laser radar is high, and more accurate calibration results can be obtained by multiple operations, so as to achieve the effect of improving the calibration accuracy of the sensor.

[0087] Figure 4 A schematic diagram of a laser radar calibration method provided in this application Figure 2 ,like Figure 4 As shown, in this embodiment Figure 1Based on the embodiment, a laser radar calibration processing method is described in detail, and the method includes:

[0088] S301. In response to a calibration request, obtain the three-dimensional coordinates of a first preset point on a preset calibration tool; wherein the first preset point is a point at a preset position on the calibration tool; and the three-dimensional coordinates are coordinate values ​​in a vehicle body coordinate system where a vehicle terminal is located.

[0089] In one example, the calibration tool is a set square of any shape, and a protruding edge line is provided on the set square, and the edge line passes through any vertex of the set square; the scanning line is a line passing through the edge line.

[0090] For example, this step can be referred to Figure 1 Step 201 in the above is not described in detail.

[0091] S302: Acquire point cloud data of the calibration tool through a preset laser radar.

[0092] In one example, step S302 includes: based on a preset distance between a preset laser radar and the calibration tool, emitting a laser to the calibration tool through a preset laser radar to obtain point cloud data of the calibration tool; wherein the point cloud data includes data contained in at least one scan line located on the calibration tool; and / or, based on different distances between a preset laser radar and the calibration tool, at each distance, emitting a laser to the calibration tool through a preset laser radar to obtain point cloud data of the calibration tool; wherein the point cloud data includes data contained in at least one scan line located on the calibration tool.

[0093] For example, the preset laser radar takes a mechanical laser radar as an example, and the mechanical laser radar scans the calibration tool in front and reads the point cloud data of the calibration tool. The scanning schematic diagram is shown as follows: Figure 3 As shown, the blue dots are the positions of the mechanical laser radar's multiple line scans on the calibration tool and the point cloud data read, and the distance between adjacent points on each scan line is the same.

[0094] Specifically, for a multi-line laser radar, the electronic device can emit a laser to the calibration tool based on a preset distance between the multi-line laser radar and the calibration tool, and obtain point cloud data of the calibration tool, wherein the point cloud data includes data contained in multiple scan lines located on the calibration tool. Alternatively, based on different distances between the multi-line laser radar and the calibration tool, the laser radar can be used to emit a laser to the calibration tool at different distances to obtain point cloud data of the calibration tool, wherein the point cloud data includes data contained in multiple scan lines located on the calibration tool. Alternatively, based on the preset distance between the multi-line laser radar and the calibration tool, the point cloud data of the calibration tool can be obtained, wherein the point cloud data includes data contained in multiple scan lines located on the calibration tool; and, based on different distances between the multi-line laser radar and the calibration tool, the laser radar can be used to emit a laser to the calibration tool at different distances to obtain point cloud data of the calibration tool, wherein the point cloud data includes data contained in multiple scan lines located on the calibration tool.

[0095] For a single-line laser radar, since only one scan line can be obtained at a time, in order to improve the calibration accuracy, the electronic device can emit laser to the calibration tool through the laser radar at each distance based on the preset different distances between the laser radar and the calibration tool, and obtain point cloud data of the calibration tool. The point cloud data includes data contained in at least one scan line located on the calibration tool.

[0096] S303 . For each scan line, determine the intersection point between the scan line and the calibration tool, and determine the intersection point as a second preset point on the calibration tool.

[0097] In one example, S303 includes: for each scan line, based on the distance between the laser radar and the calibration tool, traversing the actual distance between each point on the scan line and the calibration tool; if it is determined that the actual distance is equal to the distance between the laser radar and the calibration tool, and the point corresponding to the actual distance is located on the edge of the calibration tool, then determining that the point corresponding to the actual distance is located on the calibration tool, determining the point corresponding to the actual distance as the intersection, and determining the intersection as the second preset point on the calibration tool; if it is determined that the actual distance is less than the distance between the laser radar and the calibration tool, then determining that the point corresponding to the actual distance is located on the edge line, determining the point corresponding to the actual distance as the intersection, and determining the intersection as the second preset point on the calibration tool.

[0098] Exemplarily, for each scan line, the electronic device needs to determine the intersection between the scan line and the calibration tool, and determine the intersection as the second preset point on the calibration tool. Specifically, for each scan line, based on the distance between the laser radar and the calibration tool, the actual distance between each point on the scan line and the calibration tool is traversed, and the distance is compared with the actual distance. If it is determined that the actual distance is equal to the distance between the laser radar and the calibration tool, and the point corresponding to the actual distance is located on the edge of the calibration tool, then it is determined that the point corresponding to the actual distance is located on the calibration tool, the point corresponding to the actual distance is determined to be the intersection, and the intersection is determined to be the second preset point on the calibration tool. If it is determined that the actual distance is less than the distance between the laser radar and the calibration tool, it means that the point corresponding to the actual distance is closer to the preset laser radar, then it is determined that the point corresponding to the actual distance is located on the ridgeline, the point corresponding to the actual distance is determined to be the intersection, and the intersection is determined to be the second preset point on the calibration tool. If it is determined that the actual distance is greater than the distance between the lidar and the calibration tool, it means that the distance between the point corresponding to the actual distance and the lidar is greater than the distance between the lidar and the calibration tool. Then it is determined that the point corresponding to the actual distance is located in the background around the calibration tool, and it is determined that the point corresponding to the actual distance does not belong to the intersection point.

[0099] S304: Determine the first coordinates of the second preset point.

[0100] In one example, S304 includes: if there are multiple scan lines, obtaining preliminary first coordinates of the second preset point for each scan line; and averaging the preliminary first coordinates to obtain averaged first coordinates.

[0101] Exemplarily, in order to improve the calibration accuracy, if there are multiple scan lines, the electronic device can directly obtain the preliminary first coordinates of the second preset point for each scan line based on the point cloud data, and average the preliminary first coordinates to obtain an average value, which is the averaged first coordinate.

[0102] S305: Determine the distance between two adjacent second preset points.

[0103] For example, Figure 5 A schematic diagram of a laser radar calibration method provided in this application Figure 3 ,like Figure 5 As shown, it includes the distance h1 of CO, the distance h2 of CP, the distance h3 of CQ, the distance d1 between OP, the distance d2 between PQ, the angle α between AC and CD, the angle β between DC and CB, and h 21 、h 23 ; Among them, h 21 represents the vertical distance between points O and P, h 23Indicates the vertical distance between points Q and P. Based on the data in the point cloud, the distance d1 between two adjacent second preset points OP and d2 between two adjacent second preset points PQ can be calculated. 21 、h 23 It can be calculated based on the angle α, angle β, distances d1, d2, and trigonometric functions.

[0104] S306: Determine the second coordinates of the second preset points according to the distance between the second preset points, the preset constraint equation group, and the three-dimensional coordinates.

[0105] In one example, S306 includes: if there are multiple scan lines, obtaining preliminary second coordinates of the second preset points based on the distance between the second preset points, the preset constraint equation group, and the three-dimensional coordinates; and averaging the preliminary second coordinates to determine the averaged second coordinates.

[0106] For example, on the triangle plate, there is only one set of point pairs that satisfy the distances d1 and d2, that is, the second collinear preset points are O, P, and Q, so the coordinates of points O, P, and Q in the vehicle body coordinate system can be accurately solved. Specifically, the electronic device can establish the following set of constraint equations for each line:

[0107]

[0108] Among them, α, β, d1, d2, h 21 、h 23 All of them are known quantities. Solving 5 unknowns with 5 equations can get h1, h2, and h3. Since the three-dimensional coordinates of the four points ABCD in the vehicle coordinate system have been measured, the preliminary second coordinates P of O, P, and Q in the vehicle coordinate system can be calculated based on the three-dimensional coordinates of h1, h2, and h3. Oveh (x Oveh ,y Oveh ,z Oveh ), P Qveh (x Qveh ,y Qveh ,z Qveh ), P Pveh (x Pveh ,y Pveh ,z Pveh ), OPQ can establish 3D<->3D point pairs one by one in the vehicle coordinate system and the radar coordinate system.

[0109] If there are multiple scan lines, for each scan line, the preliminary second coordinates of the second preset points are obtained based on the distance between the second preset points, the preset constraint equation group, and the three-dimensional coordinates, and the average of the preliminary multiple second coordinates is calculated to determine the averaged second coordinate.

[0110] Therefore, based on the three constraint lines provided in different planes, the constraint equations are established by preferentially utilizing the collinearity of the point cloud beam characteristics of the mechanical laser radar, and the correspondence between the points in the vehicle coordinate system and the points under the laser radar is found by establishing a unique solution space. The calibration parameters are solved through the point pair constraints at different distances and the point pair constraints provided by different beams, and the calibration accuracy is higher.

[0111] S307. Determine calibration parameters according to the first coordinate and the second coordinate; and calibrate the laser radar according to the calibration parameters.

[0112] Exemplarily, since the first coordinate is a coordinate value in the laser radar coordinate system, and the second coordinate is a coordinate value in the vehicle body coordinate system, the calibration parameters for converting the first coordinate to the second coordinate can be calculated based on the first coordinate and the second coordinate, and the laser radar can be calibrated based on the calibration parameters. It should be noted that the calibration scheme of the present application is highly operable, has been verified by multiple experiments and simulations, and has been applied in actual laser radar calibration.

[0113] The laser radar calibration processing method provided in the embodiment of the present application, in response to a calibration request, obtains the three-dimensional coordinates of the first preset point on the preset calibration tool; wherein the first preset point is a point at a preset position on the calibration tool; and the three-dimensional coordinates are the coordinate values ​​in the vehicle body coordinate system where the vehicle terminal is located. The point cloud data of the calibration tool is obtained through the preset laser radar. For each scan line, the intersection between the scan line and the calibration tool is determined, and the intersection is determined as the second preset point on the calibration tool. The first coordinate of the second preset point is determined. The distance between the second preset points adjacent to each other is determined. According to the distance between the second preset points, the preset constraint equation group, and the three-dimensional coordinates, the second coordinates of the second preset point are determined. According to the distance between the second preset points, the preset constraint equation group, and the three-dimensional coordinates, the second coordinates of the second preset point are determined. According to the distance between the second preset points, the preset constraint equation group, and the three-dimensional coordinates, the second coordinates of the second preset point are determined. According to the first coordinates and the second coordinates, the calibration parameters are determined; and according to the calibration parameters, the laser radar is calibrated. Therefore, the calibration tool designed and used in this solution is simple to make, easy to ensure accuracy, and stable and reliable. The laser radar can be calibrated directly through the calibration tool without the need for indirect calibration with the help of other sensors, and is applicable to both multi-line laser radar and single-line laser radar. The entire calibration algorithm is simple to develop, the calibration development is fast, the application is fast, the calibration is convenient, the calibration results are accurate, the external parameter calibration accuracy of the laser radar is high, and more accurate calibration results can be obtained by multiple operations, so as to achieve the effect of improving the calibration accuracy of the sensor.

[0114] Figure 6 A schematic diagram of the structure of a laser radar calibration processing device provided in this application, such as Figure 6 As shown, the laser radar calibration processing device 40 provided in this embodiment includes:

[0115] The first acquisition module 41 is used to obtain the three-dimensional coordinates of a first preset point on a preset calibration tool in response to a calibration request; wherein the first preset point is a point at a preset position on the calibration tool; and the three-dimensional coordinates are coordinate values ​​in the vehicle body coordinate system where the vehicle terminal is located.

[0116] The second acquisition module 42 is used to acquire point cloud data of the calibration tool through a preset laser radar.

[0117] The first determination module 43 is used to determine the first coordinates and the second coordinates of the second preset point on the calibration tool according to the point cloud data and the three-dimensional coordinates; wherein the first coordinate is the coordinate value in the laser radar coordinate system, and the second coordinate is the coordinate value in the vehicle body coordinate system.

[0118] The second determination module 44 is used to determine the calibration parameters according to the first coordinate and the second coordinate.

[0119] The calibration module 45 is used to calibrate the laser radar according to the calibration parameters.

[0120] Figure 7 A schematic diagram of the structure of another laser radar calibration processing device provided in an embodiment of the present application, Figure 6 Based on the embodiment shown, Figure 7 As shown, the second acquisition module 42 is specifically used for:

[0121] Based on a preset distance between a preset laser radar and the calibration tool, a laser is emitted to the calibration tool through the preset laser radar to obtain point cloud data of the calibration tool; wherein the point cloud data includes data contained in at least one scanning line located on the calibration tool.

[0122] And / or, based on different distances between a preset laser radar and the calibration tool, at each distance, a laser is emitted to the calibration tool by a preset laser radar to obtain point cloud data of the calibration tool; wherein the point cloud data includes data contained in at least one scanning line located on the calibration tool.

[0123] In a possible implementation, the first determining module 43 includes:

[0124] The first determining unit 431 is used to determine, for each scan line, an intersection point between the scan line and the calibration tool, and determine the intersection point as a second preset point on the calibration tool.

[0125] The second determining unit 432 is used to determine the first coordinates of the second preset point.

[0126] The third determining unit 433 is configured to determine the distance between two adjacent second preset points.

[0127] The fourth determining unit 434 is used to determine the second coordinates of the second preset point according to the distance between the second preset points, the preset constraint equation group, and the three-dimensional coordinates.

[0128] In a possible implementation, the calibration tool is a set square of any shape, and a protruding edge line is provided on the set square, and the edge line passes through any vertex of the set square;

[0129] The scan line is a line passing through the ridge line.

[0130] In a possible implementation manner, the first determining unit 431 is specifically configured to:

[0131] For each scan line, based on the distance between the lidar and the calibration tool, the actual distance between each point on the scan line and the calibration tool is traversed.

[0132] If it is determined that the actual distance is equal to the distance between the laser radar and the calibration tool, and the point corresponding to the actual distance is located on the edge of the calibration tool, then the point corresponding to the actual distance is determined to be located on the calibration tool, the point corresponding to the actual distance is determined to be the intersection point, and the intersection point is determined to be the second preset point on the calibration tool.

[0133] If it is determined that the actual distance is less than the distance between the laser radar and the calibration tool, the point corresponding to the actual distance is determined to be on the ridge line, the point corresponding to the actual distance is determined to be the intersection point, and the intersection point is determined to be the second preset point on the calibration tool.

[0134] In a possible implementation manner, the second determining unit 432 is specifically configured to:

[0135] If there are multiple scan lines, a preliminary first coordinate of the second preset point is obtained for each scan line; and the preliminary first coordinate is averaged to obtain an averaged first coordinate;

[0136] The fourth determining unit 434 is specifically configured to:

[0137] If there are multiple scan lines, the preliminary second coordinates of the second preset points are obtained according to the distance between the second preset points, the preset constraint equation group, and the three-dimensional coordinates; and the preliminary second coordinates are averaged to determine the averaged second coordinates.

[0138] The laser radar calibration processing device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0139] Figure 8 This is a schematic diagram of the structure of the electronic device provided in this application. Figure 8As shown, the electronic device 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 also includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0140] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0141] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0142] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0143] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0144] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0145] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0146] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0147] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0148] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0149] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0150] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0151] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0152] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0153] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0154] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A laser radar calibration processing method, characterized in that: include: In response to a calibration request, obtaining the three-dimensional coordinates of a first preset point on a preset calibration tool; wherein the first preset point is a point at a preset position on the calibration tool; and the three-dimensional coordinates are coordinate values ​​in a vehicle body coordinate system where the vehicle terminal is located; Acquire point cloud data of the calibration tool through a preset laser radar; and determine the first coordinate and the second coordinate of the second preset point on the calibration tool according to the point cloud data and the three-dimensional coordinates; wherein the first coordinate is the coordinate value in the laser radar coordinate system, and the second coordinate is the coordinate value in the vehicle body coordinate system; Determine calibration parameters according to the first coordinates and the second coordinates; and calibrate the laser radar according to the calibration parameters.

2. The method according to claim 1, characterized in that The step of obtaining the point cloud data of the calibration tool by using a preset laser radar includes: Based on a preset distance between the preset laser radar and the calibration tool, a laser is emitted to the calibration tool by the preset laser radar to obtain point cloud data of the calibration tool; wherein the point cloud data includes data contained in at least one scan line located on the calibration tool; And / or, based on different distances between the preset laser radar and the calibration tool, at each distance, a laser is emitted to the calibration tool by the preset laser radar to obtain point cloud data of the calibration tool; wherein the point cloud data includes data contained in at least one scan line located on the calibration tool.

3. The method according to claim 2, characterized in that Determining the first coordinates and the second coordinates of the second preset point on the calibration tool according to the point cloud data and the three-dimensional coordinates includes: For each scan line, determine an intersection point between the scan line and the calibration tool, and determine the intersection point as a second preset point on the calibration tool; Determining the first coordinates of the second preset point; Determine the distance between two adjacent second preset points; The second coordinates of the second preset points are determined according to the distance between the second preset points, the preset constraint equation group, and the three-dimensional coordinates.

4. The method according to claim 3, characterized in that The calibration tool is a triangle plate of any shape, and the triangle plate is provided with a protruding edge line, and the edge line passes through any vertex of the triangle plate; The scan line is a line passing through the ridge line.

5. The method according to claim 4, characterized in that The step of determining, for each scan line, an intersection point between the scan line and the calibration tool, and determining the intersection point as a second preset point on the calibration tool comprises: For each scan line, based on the distance between the laser radar and the calibration tool, traverse the actual distance between each point on the scan line and the calibration tool; If it is determined that the actual distance is equal to the distance between the laser radar and the calibration tool, and the point corresponding to the actual distance is located on the edge of the calibration tool, then the point corresponding to the actual distance is determined to be located on the calibration tool, the point corresponding to the actual distance is determined to be an intersection point, and the intersection point is determined to be a second preset point on the calibration tool; If it is determined that the actual distance is less than the distance between the laser radar and the calibration tool, the point corresponding to the actual distance is determined to be on the ridge line, the point corresponding to the actual distance is determined to be the intersection point, and the intersection point is determined to be the second preset point on the calibration tool.

6. The method according to any one of claims 1 to 3, characterized in that: The determining the first coordinate of the second preset point includes: If there are multiple scan lines, for each scan line, a preliminary first coordinate of the second preset point is obtained; and the preliminary first coordinate is averaged to obtain an averaged first coordinate; The determining the second coordinates of the second preset points according to the distance between the second preset points, the preset constraint equation group, and the three-dimensional coordinates includes: If there are multiple scan lines, the preliminary second coordinates of the second preset points are obtained according to the distance between the second preset points, the preset constraint equation group, and the three-dimensional coordinates; and the preliminary second coordinates are averaged to determine the averaged second coordinates.

7. A laser radar calibration processing device, characterized in that: include: A first acquisition module, configured to acquire the three-dimensional coordinates of a first preset point on a preset calibration tool in response to the calibration request; wherein the first preset point is a point at a preset position on the calibration tool; and the three-dimensional coordinates are coordinate values ​​in a vehicle body coordinate system where the vehicle terminal is located; A second acquisition module, used to acquire point cloud data of the calibration tool through a preset laser radar; A first determination module, used to determine the first coordinates and the second coordinates of the second preset point on the calibration tool according to the point cloud data and the three-dimensional coordinates; wherein the first coordinates are coordinate values ​​in the laser radar coordinate system, and the second coordinates are coordinate values ​​in the vehicle body coordinate system; A second determination module, used to determine a calibration parameter according to the first coordinate and the second coordinate; A calibration module is used to calibrate the laser radar according to the calibration parameters.

8. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

10. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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