Laser radar resolution measurement method and device, electronic equipment and storage medium

Abstract

The invention provides a method and device for measuring the resolution of a laser radar, electronic equipment and a storage medium, and relates to the technical field of radars, and the method comprises the steps: controlling the laser radar to scan a target at a preset field angle, so as to obtain a target point cloud, and enabling the preset field angle to be at least part of the field angle of the laser radar, and mapping the two-dimensional diagram of the target point cloud to the binocular camera system according to the position association relationship between the laser radar and the binocular camera system, determining the three-dimensional coordinate of each point in the target point cloud mapped to the binocular camera system according to the binocular camera system, and determining the angular resolution of the laser radar according to the three-dimensional coordinate of each point in the target point cloud. According to the invention, the angular resolution of the laser radar can be measured, the measurement process is simple and is not limited by sites, and the measurement cost can be reduced.

Description

Technical Field

[0001] The present application relates to the field of radar technology, and more specifically, to a method, device, electronic device, and computer-readable storage medium for measuring laser radar resolution in the field of radar technology. Background Art

[0002] With the popularization and development of intelligent driving, LiDAR plays an irreplaceable role in both the automotive and robotics fields. The resolution of LiDAR is a quantitative parameter that measures the smallest object that LiDAR can detect. The current LiDAR resolution measurement method mainly uses visual recognition to achieve resolution measurement. For example, in a dark environment, an infrared camera is used to shoot the LiDAR light spot at close range, and the light spot recognition is performed to determine the LiDAR resolution. However, this method can only be used for low-resolution measurements. As the level of autonomous driving increases, the demand for LiDAR resolution also increases. Accurate measurement of higher and higher resolutions has become a rigid demand. The current resolution measurement method cannot meet the requirements of accurate measurement of high resolution. Therefore, how to achieve accurate measurement of LiDAR resolution has become an urgent problem that needs to be solved. Summary of the Invention

[0003] The present application provides a method, device, electronic device and computer-readable storage medium for measuring the resolution of a laser radar. The present application can not only achieve accurate measurement of low resolution of the laser radar, but also achieve accurate measurement of high resolution.

[0004] In a first aspect, a method for measuring the resolution of a laser radar is provided, which includes: controlling the laser radar to scan a target at a preset field of view angle to obtain a target point cloud, wherein the preset field of view angle is at least a portion of the field of view angle of the laser radar; mapping a two-dimensional image of the target point cloud to the binocular camera system based on a positional association relationship between the laser radar and a binocular camera system; wherein the binocular camera system includes a first camera and a second camera; determining, based on the binocular camera system, a first coordinate of each point in the target point cloud mapped to the binocular camera system, wherein the first coordinate is a three-dimensional coordinate; and determining the angular resolution of the laser radar based on the first coordinate of each point in the target point cloud.

[0005] In the above technical scheme, the embodiment of the present application adopts a method of controlling the laser radar to scan the target with a preset field of view angle to obtain the target point cloud. The preset field of view angle is at least a part of the field of view angle of the laser radar. According to the positional correlation relationship between the laser radar and the binocular camera system, the two-dimensional image of the target point cloud is mapped to the binocular camera system. According to the binocular camera system, the three-dimensional coordinates of each point in the target point cloud mapped to the binocular camera system are determined. According to the three-dimensional coordinates of each point in the target point cloud, the angular resolution of the laser radar is determined. The technical scheme realizes the measurement of the angular resolution of the laser radar, that is, the technical scheme can not only realize the accurate measurement of the low resolution of the laser radar, but also realize the accurate measurement of the high resolution. In addition, the measurement process is simple, not restricted by the site, and reduces the distance restriction, which is conducive to reducing the measurement cost.

[0006] In combination with the first aspect, in some possible implementations, before the step of controlling the laser radar to scan the target at a preset field of view angle to obtain a target point cloud, the method also includes: controlling the laser radar to scan the target at the preset field of view angle to obtain a calibration point cloud; controlling the binocular camera system to obtain a calibration image of the target; and, based on the calibration point cloud and the calibration image, determining a positional correlation relationship between the laser radar and the binocular camera system; wherein the target is provided with a preset pattern.

[0007] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method also includes: controlling the binocular camera system to obtain a calibration image about the target; and determining the positional correlation relationship between the laser radar and the binocular camera system based on the target point cloud and the calibration image; wherein the target is provided with a preset pattern.

[0008] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the preset pattern includes multiple rectangular cells, and the preset pattern satisfies at least one of the following conditions: a) the colors between any two adjacent cells are different; b) the lengths of the connecting edges of at least two adjacent cells are different.

[0009] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, mapping the two-dimensional image of the target point cloud to the binocular camera system based on the positional association relationship between the laser radar and the binocular camera system includes: mapping the two-dimensional image of the target point cloud to the first camera to obtain a first image based on the positional association relationship; and mapping the two-dimensional image of the target point cloud to the second camera to obtain a second image based on the positional association relationship; determining the first coordinates of each point in the target point cloud mapped to the binocular camera system based on the binocular camera system includes: determining the first coordinates of each point in the target point cloud based on the first image and the second image.

[0010] In combination with the first aspect and the above-mentioned implementation manner, in some possible implementation manners, the method also includes: controlling the first camera to obtain a first preliminary image about the target; and controlling the second camera to obtain a second preliminary image about the target; mapping the two-dimensional image of the target point cloud to the first camera according to the position association relationship to obtain the first image includes: mapping the two-dimensional image of the target point cloud to the first preliminary image according to the position association relationship to obtain the first image; mapping the two-dimensional image of the target point cloud to the second camera according to the position association relationship to obtain the second image includes: mapping the two-dimensional image of the target point cloud to the second preliminary image according to the position association relationship to obtain the second image.

[0011] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining the angular resolution of the lidar based on the first coordinates of each point in the target point cloud includes: obtaining the angular interval corresponding to the first target point group in the horizontal direction based on the first coordinates of two points on both sides of the first target point group, wherein the first target point group includes multiple points arranged in the horizontal direction; and determining the horizontal angular resolution of the first target point group based on the angular interval and the number of points corresponding to the first target point group.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining the angular resolution of the lidar based on the first coordinates of each point in the target point cloud includes: obtaining the angular interval corresponding to the second target point group in the vertical direction based on the first coordinates of two points on both sides of the second target point group, wherein the second target point group includes multiple points arranged in the vertical direction; and determining the vertical angular resolution of the second target point group based on the angular interval and number of points corresponding to the second target point group.

[0013] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after determining the angular resolution of the laser radar based on the first coordinates of each point in the target point cloud, the method also includes: obtaining the second coordinates of each point in the target point cloud of the laser radar, where the second coordinates are the measurement values ​​of the laser radar; and determining the angular accuracy of the laser radar based on the second coordinates and the first coordinates corresponding to each point in the target point cloud.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the angular accuracy of the laser radar is determined based on the second coordinates and the first coordinates corresponding to each point in the target point cloud, including: obtaining the angular deviation of each point in the target point cloud based on the second coordinates and the first coordinates corresponding to each point in the target point cloud in each frame; determining the angular accuracy of the laser radar scan based on the angular deviation of each point in the target point cloud for a preset number of frames; and determining the repeatability of the laser radar measurement based on the angular deviation of each point in the target point cloud for a preset number of frames.

[0015] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the laser radar, the first camera and the second camera are arranged on a turntable, the laser radar is located between the first camera and the second camera, and the field of view of the laser radar includes a first sub-field of view angle, a second sub-field of view angle and a third sub-field of view angle arranged in sequence along a preset direction; before the steps of controlling the laser radar to scan the target with a preset field of view angle, and controlling the binocular camera system to acquire an image of the target, the method also includes: controlling the turntable to rotate so that one of the first sub-field of view angle, the second sub-field of view angle and the third sub-field of view angle is used as the preset field of view angle.

[0016] In a second aspect, a measuring device is provided, the measuring device comprising:

[0017] a point cloud acquisition module, configured to control the laser radar to scan the target at a preset field of view angle to acquire a target point cloud, wherein the preset field of view angle is at least a portion of the field of view angle of the laser radar;

[0018] a point cloud mapping module, configured to map the two-dimensional image of the target point cloud to the binocular camera system according to a positional association relationship between the laser radar and the binocular camera system; wherein the binocular camera system includes a first camera and a second camera;

[0019] A first calculation module is configured to determine, based on the binocular camera system, first coordinates of each point in the target point cloud mapped to the binocular camera system, where the first coordinates are three-dimensional coordinates;

[0020] The second calculation module is used to determine the angular resolution of the laser radar according to the first coordinates of each point in the target point cloud.

[0021] In conjunction with the second aspect, in some possible implementations, the measuring device further includes:

[0022] A first calibration unit is configured to control the laser radar to scan the target at the preset field of view angle to obtain a calibration point cloud; control the binocular camera system to obtain a calibration image of the target; and determine a positional association relationship between the laser radar and the binocular camera system based on the calibration point cloud and the calibration image; wherein the target is provided with a preset pattern.

[0023] In combination with the second aspect and the above implementation, in some possible implementations, the measurement device further includes:

[0024] A second calibration unit is used to control the binocular camera system to obtain a calibration image of the target; and to determine the positional association relationship between the laser radar and the binocular camera system based on the target point cloud and the calibration image; wherein the target is provided with a preset pattern.

[0025] In combination with the second aspect and the above-mentioned implementation, in some possible implementations, the preset pattern includes multiple rectangular cells, and the preset pattern satisfies at least one of the following conditions: a) the colors between any two adjacent cells are different; b) the lengths of the connecting edges of at least two adjacent cells are different.

[0026] In combination with the second aspect and the above implementation, in some possible implementations, the point cloud mapping module includes:

[0027] a first mapping unit, configured to map the two-dimensional image of the target point cloud to the first camera to obtain a first image according to the position association relationship;

[0028] The second mapping unit is configured to map the two-dimensional image of the target point cloud to the second camera according to the position association relationship to obtain a second image.

[0029] The first calculation module is specifically configured to determine the first coordinates of each point in the target point cloud based on the first image and the second image.

[0030] In combination with the second aspect and the above implementation, in some possible implementations, the measurement device further includes:

[0031] a camera control unit, configured to control the first camera to acquire a first preliminary image of the target; and control the second camera to acquire a second preliminary image of the target;

[0032] a first mapping unit, specifically configured to map the two-dimensional image of the target point cloud to the first preliminary image according to the position association relationship, so as to obtain the first image;

[0033] The second mapping unit is specifically configured to map the two-dimensional image of the target point cloud to the second preliminary image according to the position association relationship to obtain the second image.

[0034] In combination with the second aspect and the above implementation, in some possible implementations, the second calculation module includes:

[0035] a horizontal resolution calculation unit, configured to obtain an angular interval corresponding to a first target point group in the horizontal direction based on first coordinates of two points on both sides of the first target point group, wherein the first target point group includes a plurality of points arranged in the horizontal direction; and determine the horizontal angular resolution of the first target point group based on the angular interval and the number of points corresponding to the first target point group.

[0036] In combination with the second aspect and the above implementation, in some possible implementations, the second calculation module includes:

[0037] a vertical resolution calculation unit, configured to obtain an angular interval corresponding to the second target point group in the vertical direction based on the first coordinates of two points on both sides of the second target point group, wherein the second target point group includes a plurality of points arranged in the vertical direction; and determine the vertical angular resolution of the second target point group based on the angular interval and the number of points corresponding to the second target point group.

[0038] In combination with the second aspect and the above implementation, in some possible implementations, the measurement device further includes:

[0039] a measurement value acquisition unit, configured to acquire a second coordinate of each point in the target point cloud of the laser radar, wherein the second coordinate is a measurement value of the laser radar;

[0040] An accuracy calculation unit is used to determine the angular accuracy of the laser radar based on the second coordinates and the first coordinates corresponding to each point in the target point cloud.

[0041] In combination with the second aspect and the above-mentioned implementation method, in some possible implementation methods, the above-mentioned accuracy calculation unit is specifically used to obtain the angular deviation of each point in the target point cloud based on the second coordinate and the first coordinate corresponding to each point in the target point cloud in each frame; determine the angular accuracy of the laser radar scanning based on the angular deviation of each point in the target point cloud for a preset number of frames; determine the repeatability accuracy of the laser radar measurement based on the angular deviation of each point in the target point cloud for a preset number of frames.

[0042] In combination with the second aspect and the above implementations, in certain possible implementations, the laser radar, the first camera, and the second camera are arranged on a turntable, the laser radar is located between the first camera and the second camera, the field of view of the laser radar includes a first sub-field of view angle, a second sub-field of view angle, and a third sub-field of view angle arranged sequentially along a preset direction, and the above-mentioned measurement device further includes:

[0043] A turntable control unit is used to control the turntable to rotate so that one of the first sub-viewing angle, the second sub-viewing angle and the third sub-viewing angle serves as the preset viewing angle.

[0044] In a third aspect, an electronic device is provided, comprising a binocular camera system, a memory, and a processor. The binocular camera system includes a first camera and a second camera, wherein the first camera and the second camera are disposed on a turntable. The memory is configured to store executable program code, and the processor is configured to retrieve and execute the executable program code from the memory, causing the electronic device to perform the lidar resolution measurement method described in the first aspect or any possible implementation of the first aspect.

[0045] In a fourth aspect, a computer program product is provided, which includes: computer program code, which, when running on a computer, enables the computer to execute the lidar resolution measurement method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0046] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the lidar resolution measurement method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a schematic flow chart of a method for measuring laser radar resolution provided in an embodiment of the present application;

[0048] Figure 2 A schematic diagram showing a measurement device for lidar resolution;

[0049] Figure 3 A schematic diagram showing the field of view of a laser radar;

[0050] Figure 4 A schematic diagram of the target is shown;

[0051] Figure 5 Shows a schematic diagram of the setup of the LiDAR and binocular camera system;

[0052] Figure 6 A schematic structural diagram of a measuring device provided in an embodiment of the present application is shown;

[0053] Figure 7 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0054] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0055] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0056] With the increasing popularity and development of intelligent driving, LiDAR (LiDAR) plays an irreplaceable role in both automotive and robotics. LiDAR primarily uses a transmitter module to emit detection laser light, a scanner module to scan the entire field of view (FOV), a receiver module to receive the reflected laser light from the target object, and a main control unit to process the data to perceive the LiDAR's surrounding environment.

[0057] LiDAR resolution is a quantitative parameter that measures the smallest object a LiDAR can detect. Accurately measuring LiDAR resolution has always been challenging, so in everyday applications, this metric is rarely tested. Instead, detection capability and resolution are determined by measuring the number of points of key objects of interest, such as people and vehicles, at different distances. However, measuring the number of points of key objects, such as people and vehicles, at different distances is easily affected by the scanning mode, detection capability, and point cloud quality, making it impossible to determine the distribution between points.

[0058] Resolution can also be measured through visual recognition. For example, in a dark environment, an infrared camera can be used to capture the radar laser spot at close range and perform spot recognition to determine the LiDAR's resolution. However, when capturing the LiDAR spot with an infrared camera, the camera's resolution and measurement range are limited, requiring the camera to stop scanning and perform fixed-point measurement. This differs from actual LiDAR usage. This is because the infrared camera's long exposure time during LiDAR scanning can easily cause blurred light spots in high-resolution LiDAR, making it impossible to determine the spot's location. Therefore, measuring LiDAR resolution has long been a pain point in the industry.

[0059] At the same time, as resolution increases, the requirements for angle control accuracy also increase. If the angle control accuracy is lower than the resolution and the consistency is poor, it is easy to cause scan line disorder and scan pattern distortion. Therefore, accurate measurement of angle control accuracy is becoming an increasingly urgent need.

[0060] The present application provides a method, device, electronic device and computer-readable storage medium for measuring the resolution of a laser radar. The present application can not only achieve accurate measurement of low-resolution laser radar, but also accurate measurement of high-resolution laser radar. The measurement process is simple and not restricted by the site, which is conducive to reducing measurement costs.

[0061] The following is an embodiment of a method for measuring laser radar resolution provided in an embodiment of the present application.

[0062] Figure 1 The following is a schematic flow chart of a method for measuring the resolution of a laser radar provided in an embodiment of the present application. Figure 1 As shown, the method for measuring the laser radar resolution provided in the embodiment of the present application is applied to a computing device with computing power, such as a computer. Figure 2 As shown, Figure 2 A schematic diagram of a laser radar resolution measurement device is shown. The equipment that needs to be prepared in advance for measuring the laser radar resolution includes a laser radar 100, a binocular camera system, and a target 300. The laser radar 100 and the binocular camera system are both electrically connected to a computing device. The binocular camera system includes a first camera 201 and a second camera 202.

[0063] The above-mentioned lidar resolution measurement method includes the following schemes:

[0064] S110: Control the laser radar to scan the target at a preset field of view angle to obtain a target point cloud, wherein the preset field of view angle is at least a portion of the field of view angle of the laser radar.

[0065] The laser radar, target, first camera and second camera are fixedly set in advance, and the target is located in the direction of the field of view angle of the laser radar, the first camera and the second camera. The setting positions of the laser radar, the first camera and the second camera are different, and at least part of the field of view angle of the laser radar and at least part of the field of view angle of the first camera and the second camera can cover the target.

[0066] In an exemplary embodiment, after the laser radar, target, first camera and second camera are set up based on the above method, the preliminary preparations for measuring the laser radar resolution are completed, that is, the laser radar resolution measurement work can be carried out. The laser radar resolution measurement work includes: controlling the laser radar to scan the target at a preset field of view angle, and controlling the binocular camera system to work. The preset field of view angle is at least a part of the field of view angle of the laser radar, that is, the preset field of view angle can be the entire field of view angle of the laser radar, or it can be a part of the field of view angle of the laser radar. Figure 3 As shown, Figure 3 A schematic diagram of the field of view angle of the laser radar is shown, where F0 represents the field of view angle of the laser radar, that is, the entire field of view angle of the laser radar, F1 represents the left field of view angle of the laser radar (belonging to the partial field of view angle), F2 represents the middle field of view angle of the laser radar (belonging to the partial field of view angle), and F3 represents the right field of view angle of the laser radar (belonging to the partial field of view angle), that is, the preset field of view angle is at least a part of the field of view angle of the laser radar. It can be understood that the preset field of view angle is any one of F1, F2 and F3 or a combination of at least two of F1, F2 and F3.

[0067] After controlling the laser radar to scan the target at a preset field of view angle, the point cloud from the target obtained by the laser radar based on the preset field of view angle is the target point cloud.

[0068] S120: Mapping the two-dimensional image of the target point cloud to the binocular camera system according to the positional association relationship between the laser radar and the binocular camera system.

[0069] The positional relationship between the laser radar and the binocular camera system can be understood as a conversion relationship between the laser radar's coordinate system and the binocular camera system's coordinate system, or as a correspondence between the first position coordinate in the laser radar's coordinate system and the second position coordinate in the binocular camera system's coordinate system. If the positional relationship is understood through a conversion relationship, once the first position coordinate of point A in the laser radar's coordinate system is known, the first position coordinate of point A is transformed through the conversion relationship to obtain the second position coordinate of point A in the binocular camera system's coordinate system. That is, the second position coordinate is obtained by transforming the first position coordinate. If the positional relationship is understood through a correspondence relationship, once the first position coordinate of point B in the laser radar's coordinate system is known, the second position coordinate of point B in the binocular camera system's coordinate system can be determined using the first position coordinate. The second position coordinate is the coordinate corresponding to the first position coordinate.

[0070] After obtaining the target point cloud, the two-dimensional image of the target point cloud is mapped to the binocular camera system through the position association relationship, that is, the two-dimensional image of the target point cloud is mapped to the coordinate system of the binocular camera system. For example, the projection image of the target point cloud along the forward direction of the lidar (i.e., the two-dimensional image) is mapped to the camera / pixel coordinate system of the first camera and the camera / pixel coordinate system of the second camera.

[0071] S130: Determine, according to the binocular camera system, first coordinates of each point in the target point cloud mapped to the binocular camera system, where the first coordinates are three-dimensional coordinates.

[0072] After mapping the two-dimensional image of the target point cloud onto the binocular camera system, the first coordinates of each point in the target point cloud mapped to the binocular camera system can be obtained in the binocular camera system's coordinate system. The obtained first coordinates of each point in the target point cloud are three-dimensional coordinates. The first coordinates of a point in the target point cloud determined by the binocular camera system are equivalent to the real-world coordinates of the light spot corresponding to that point captured by the binocular camera system.

[0073] S140: Determine the angular resolution of the laser radar according to the first coordinates of each point in the target point cloud.

[0074] After obtaining the first coordinates of each point in the target point cloud, the angular interval (also called the angle difference) between the two adjacent points in the target point cloud is calculated based on the first coordinates of the two adjacent points in the target point cloud, so that the angular resolution corresponding to the preset field of view angle can be obtained; in addition, the angular interval between the two points can also be calculated based on the first coordinates of the two points in the target point cloud, and the angular resolution corresponding to the preset field of view angle can be further determined based on the angular interval and the number of points between the two points.

[0075] If the preset field of view angle is the entire field of view angle of the laser radar, the calculated angular resolution corresponding to the preset field of view angle is the angular resolution of the entire field of view angle of the laser radar; if the preset field of view angle is a partial field of view angle of the laser radar, the calculated angular resolution corresponding to the preset field of view angle is the angular resolution of the partial field of view angle of the laser radar. The field of view angle of the laser radar includes the horizontal field of view angle and the vertical field of view angle, and the angular resolution includes the horizontal angular resolution and the vertical angular resolution. Taking the two adjacent points mentioned above as an example, the two adjacent points can include two horizontally adjacent points and two vertically adjacent points. The horizontal angular resolution is obtained by calculating the angular interval between the two horizontally adjacent points through their first coordinates; the vertical angular resolution is obtained by calculating the angular interval between the two vertically adjacent points through their first coordinates.

[0076] The embodiment of the present application adopts a technical solution of controlling a laser radar to scan a target with a preset field of view angle to obtain a target point cloud, wherein the preset field of view angle is at least a part of the field of view angle of the laser radar, and mapping a two-dimensional image of the target point cloud to the binocular camera system according to the positional association relationship between the laser radar and the binocular camera system, determining the three-dimensional coordinates of each point in the target point cloud mapped to the binocular camera system according to the binocular camera system, and determining the angular resolution of the laser radar according to the three-dimensional coordinates of each point in the target point cloud, thereby realizing the measurement of the angular resolution of the laser radar.

[0077] Related technologies use infrared cameras to capture the laser radar's light spot to determine the laser radar's resolution, but this is generally only used to detect laser radars with lower resolutions. When the resolution of the laser radar being detected is higher, it is necessary to control the laser radar's scanning module to frequently stop and start, and the infrared camera to frequently capture images, which is difficult and complex to implement. In contrast, the technical solution of the present application allows the laser radar to scan continuously when determining the laser radar's resolution, making it less difficult to implement. Furthermore, since infrared cameras are no longer required to frequently capture the laser light spot, the technical solution of the present application can achieve accurate measurements at higher resolutions.

[0078] In one possible implementation, before the step of controlling the laser radar to scan the target at a preset field of view angle to obtain a target point cloud, the measurement method further includes the step of determining a positional correlation relationship between the laser radar and the binocular camera system, which is specifically as follows:

[0079] Controlling the laser radar to scan the target at the preset field of view angle to obtain a calibration point cloud;

[0080] controlling the binocular camera system to acquire a calibration image of the target; and

[0081] The positional correlation relationship between the laser radar and the binocular camera system is determined based on the calibration point cloud and the calibration image; wherein the target is provided with a preset pattern.

[0082] like Figure 4 As shown, Figure 4 A schematic diagram of a target is shown. The target is provided with a preset pattern comprising multiple rectangular cells. The preset pattern satisfies at least one of the following conditions: a) any two adjacent cells are different in color, where cells of different colors have different reflectivities; b) the lengths of the connecting edges of at least two adjacent cells are different. Adjacent cells are defined as having overlapping edges; if two cells only share a vertex, they are not adjacent. This arrangement ensures that any two adjacent cells are distinct, facilitating the extraction of feature points from the target by the LiDAR and binocular camera systems, as well as their respective calibration, as well as their combined calibration.

[0083] After setting up the LiDAR, target, and binocular camera system, measurement is not performed directly. Instead, the positional relationship between the LiDAR and binocular camera system is determined first. Specifically, the LiDAR is controlled to scan the target at a preset field of view angle so that the LiDAR acquires a point cloud from the target based on the preset field of view, which is referred to as the calibration point cloud. The binocular camera system is controlled to capture an image of the target, which is referred to as the calibration image. The calibration point cloud is then mapped to the calibration image, and the calibration point cloud and the calibration image are aligned to obtain the positional relationship between the LiDAR and binocular camera system. The calibration point cloud and the calibration image can be acquired at the same or different times.

[0084] During the alignment of the calibration point cloud and the calibration image, the conversion relationship between the coordinate system of the laser radar and the coordinate system of the binocular camera system can be calculated, and the conversion relationship can be used as a positional association relationship; or, after the calibration point cloud and the calibration image are aligned, the coordinates of each point in the calibration point cloud in the coordinate system of the laser radar and the coordinates of each point in the calibration point cloud in the coordinate system of the binocular camera system are one-to-one corresponding, and the corresponding relationship is used as a positional association relationship. In this case, since the preset pattern on the target includes multiple rectangular cells, and the colors between any two adjacent cells are different, and / or the lengths of the connecting edges of at least two adjacent cells are different, each cell has obvious differences; therefore, when performing the alignment operation, the calibration point cloud and the calibration image can be quickly aligned based on the corner points of each cell in the preset pattern, thereby speeding up the processing efficiency of the alignment work.

[0085] In the above scheme, before performing the measurement work, the calibration point cloud and calibration image are first obtained, and then the positional correlation relationship between the lidar and the binocular camera system is determined based on the calibration point cloud and calibration image, which is conducive to improving the accuracy of the subsequent lidar angular resolution measurement.

[0086] In addition, in another possible implementation, before the step of controlling the laser radar to scan the target at a preset field of view angle to obtain a target point cloud, the above-mentioned measurement method still includes a step of determining the positional correlation relationship between the laser radar and the binocular camera system. The main difference between this step and the previous implementation is that, instead of obtaining a separate calibration point cloud independent of the target point cloud for calibration, the target point cloud is used as the calibration point cloud for joint calibration of the laser radar and the binocular camera system. The specific steps are as follows:

[0087] controlling the binocular camera system to acquire a calibration image of the target; and

[0088] The positional correlation relationship between the laser radar and the binocular camera system is determined based on the target point cloud and the calibration image; wherein the target is provided with a preset pattern.

[0089] While controlling the LiDAR to scan the target at a preset field of view, the binocular camera system is also controlled to capture images of the target to obtain a calibration image. The target point cloud is then mapped onto the calibration image, aligning the target point cloud with the calibration image to determine the positional relationship between the LiDAR and binocular camera system.

[0090] During the alignment of the target point cloud with the calibration image, the transformation relationship between the LiDAR coordinate system and the binocular camera system's coordinate system can be calculated and used as the positional association relationship. Alternatively, after aligning the target point cloud with the calibration image, if the coordinates of each point in the target point cloud in the LiDAR coordinate system correspond one-to-one with the coordinates of each point in the target point cloud in the binocular camera system's coordinate system, and if there is a corresponding relationship, this correspondence can be used as the positional association relationship. The operation of aligning the target point cloud with the calibration image is similar to the operation of aligning the calibration point cloud with the calibration image described above and will not be repeated here.

[0091] In the above scheme, during the measurement process, by obtaining the target point cloud and calibration image, and then determining the positional correlation relationship between the lidar and the binocular camera system based on the target point cloud and calibration image, the time spent on measuring the angular resolution of the lidar can be shortened, which is conducive to improving measurement efficiency.

[0092] In one possible implementation, mapping the two-dimensional image of the target point cloud onto the binocular camera system based on the positional association between the laser radar and the binocular camera system includes the following solutions:

[0093] According to the position association relationship, mapping the two-dimensional image of the target point cloud to the first camera to obtain a first image; and

[0094] According to the position association relationship, the two-dimensional image of the target point cloud is mapped to the second camera to obtain a second image.

[0095] If the positional association relationship is a transformation relationship, the transformation relationship includes a first transformation relationship between the coordinate system of the laser radar and the coordinate system of the first camera, and a second transformation relationship between the coordinate system of the laser radar and the coordinate system of the second camera. The first transformation relationship is used to transform the two-dimensional image of the target point cloud into the coordinate system of the first camera, thereby mapping the two-dimensional image of the target point cloud to the first camera, thereby obtaining a first image; similarly, the second transformation relationship is used to transform the two-dimensional image of the target point cloud into the coordinate system of the second camera, thereby mapping the two-dimensional image of the target point cloud to the second camera, thereby obtaining a second image.

[0096] If the position association relationship is a correspondence relationship, the correspondence relationship includes a first correspondence relationship between the first position coordinates in the laser radar coordinate system and the second position coordinates in the first camera coordinate system, and a second correspondence relationship between the first position coordinates in the laser radar coordinate system and the third position coordinates in the second camera coordinate system. The first correspondence relationship can be used to obtain the coordinates of each point in the two-dimensional image of the target point cloud in the laser radar coordinate system corresponding to the coordinates in the first camera coordinate system, thereby mapping the two-dimensional image cloud of the target point to the first camera to obtain a first image; similarly, the second correspondence relationship can be used to obtain the coordinates of each point in the two-dimensional image of the target point cloud in the laser radar coordinate system corresponding to the coordinates in the second camera coordinate system, thereby mapping the two-dimensional image of the target point cloud to the second camera to obtain a second image.

[0097] The above-mentioned method of determining the first coordinates of each point in the target point cloud mapped to the binocular camera system according to the binocular camera system includes the following schemes:

[0098] Determine first coordinates of each point in the target point cloud based on the first image and the second image.

[0099] The first and second cameras are calibrated in advance, with their optical axes parallel. After obtaining the first and second images, they are stitched together to form a third image. The first coordinates of each point in the target point cloud can then be obtained from the third image. The binocular camera system can obtain three-dimensional coordinate information for the target point cloud, with the first coordinates being three-dimensional coordinates.

[0100] In one possible implementation, while controlling the laser radar to scan the target at a preset field of view angle to acquire a target point cloud, the system further includes: controlling the first camera to acquire a first preliminary image of the target, and controlling the second camera to acquire a second preliminary image of the target. The image of the target captured by the first camera is referred to as the first preliminary image, and the image of the target captured by the second camera is referred to as the second preliminary image.

[0101] The above-mentioned method of mapping the two-dimensional image of the target point cloud onto the first camera to obtain the first image based on the position association relationship includes the following schemes:

[0102] According to the position association relationship, the two-dimensional image of the target point cloud is mapped to the first preliminary image to obtain the first image.

[0103] The above-mentioned method of mapping the two-dimensional image of the target point cloud to the second camera to obtain the second image based on the position association relationship includes the following schemes:

[0104] According to the position association relationship, the two-dimensional image of the target point cloud is mapped to the second preliminary image to obtain the second image.

[0105] The two-dimensional image of the target point cloud is mapped onto the first and second preliminary images, respectively, to obtain the first and second images. Based on this, the third image obtained by stitching the first and second images can simultaneously present the target pattern information and point cloud information, facilitating visual monitoring during the measurement process.

[0106] In this application, the measurement of angular resolution includes the measurement of horizontal angular resolution and the measurement of vertical angular resolution. For the measurement of horizontal angular resolution, in one possible implementation, the angular resolution of the laser radar is determined based on the first coordinates of each point in the target point cloud, including the following scheme:

[0107] Obtaining an angular interval corresponding to the first target point group in the horizontal direction according to first coordinates of two points on both sides of the first target point group, wherein the first target point group includes a plurality of points arranged in the horizontal direction;

[0108] determining a horizontal angular resolution of the first target point group according to the angular interval and the number of points corresponding to the first target point group; and

[0109] According to the horizontal angular resolution corresponding to each first target point group, the distribution of the horizontal angular resolution of the laser radar at the preset field of view angle is determined.

[0110] After mapping the two-dimensional image of the target point cloud to the binocular camera system, the above-mentioned third image will be obtained. The third image includes the target point cloud, and the first coordinates of each point in the target point cloud can be calculated by the parallax between the first camera and the second camera. The first target point group is a collection of multiple points arranged horizontally in the target point cloud, wherein the "multiple" mentioned in this application document means more than two. Taking the first target point group including two points as an example, the horizontal angular resolution corresponding to the first target point group can be determined based on the angular interval corresponding to the two points; taking the first target point group including three points as an example, the horizontal angular resolution of the first target point group can be determined based on the angular interval corresponding to the leftmost and rightmost points in the horizontal direction, combined with the angular resolution corresponding to two units of the first target point group. Based on this method, the first target point group can be determined at different positions in the horizontal direction of the target point cloud, and the corresponding angular resolution can be determined, so that the horizontal angular resolution of the laser radar at the above-mentioned preset field of view angle can be determined. It should be noted that when determining the horizontal angular resolution of the lidar, it is necessary to do so based on the coordinate system of the lidar. For example, if the coordinate system of the binocular camera system has been converted to coincide with the coordinate system of the lidar during the joint calibration of the binocular camera system and the lidar, then the calculation can be performed directly based on the above-mentioned first coordinate. If the coordinates of the binocular camera system have not been converted, then the first coordinates of each point in the target point cloud need to be converted to the coordinate system of the lidar based on the above-mentioned position association relationship for calculation.

[0111] For example, the third image includes some points of the target point cloud, namely A, B, C, and D. The center coordinates of points A, B, C, and D are recorded as A0, B0, C0, and D0, respectively. After A0, B0, C0, and D0 are converted to the coordinate system of the laser radar, the center coordinates of the converted points are obtained as A1, B1, C1, and D1, respectively. That is, the first coordinate of A is A1, the first coordinate of B is B1, the first coordinate of C is C1, and the first coordinate of D is D1. Among them, points A and B are adjacent in the horizontal direction and constitute a first target point group, and points C and D are adjacent in the horizontal direction and constitute another first target point group.

[0112] After obtaining the first target point group, the horizontal angular separation between two adjacent points in the first target point group is calculated based on their first coordinates. For example, the horizontal angular separation between A and B can be calculated using A1 and B1, and the horizontal angular separation between C and D can be calculated using C1 and D1. This angular separation is the horizontal angular resolution at that location. By selecting the first target point group at the desired location based on actual needs, the horizontal angular resolution of that location can be determined; by traversing the entire target point cloud, the distribution of the horizontal angular resolution of the lidar at a preset field of view angle can be determined.

[0113] Regarding the measurement of vertical angular resolution, in one possible implementation, determining the angular resolution of the laser radar based on the first coordinates of each point in the target point cloud includes the following schemes:

[0114] Obtaining an angular interval corresponding to the second target point group in the vertical direction according to first coordinates of two points on both sides of the second target point group, wherein the second target point group includes a plurality of points arranged in the vertical direction;

[0115] determining a vertical angular resolution of the second target point group based on the angular interval and the number of points corresponding to the second target point group; and

[0116] According to the vertical angular resolution corresponding to each second target point group, the distribution of the vertical angular resolution of the laser radar at the preset field of view angle is determined.

[0117] After mapping the two-dimensional image of the target point cloud to the binocular camera system, the above-mentioned third image will be obtained. The third image includes the target point cloud, and the first coordinates of each point in the target point cloud can be calculated by the parallax between the first camera and the second camera. The second target point group is a collection of multiple points arranged vertically in the target point cloud. Taking the second target point group including two points as an example, the vertical angular resolution corresponding to the second target point group can be determined based on the angular interval corresponding to the two points; taking the second target point group including three points as an example, the vertical angular resolution of the second target point group can be determined based on the corresponding angular interval between the uppermost and lowermost points in the vertical direction, combined with the angular resolution of two units corresponding to the second target point group. Based on this method, the second target point group can be determined at different positions in the vertical direction of the target point cloud, and the corresponding angular resolution can be determined, so that the vertical angular resolution of the laser radar at the above-mentioned preset field of view angle can be determined. It should be noted that when determining the vertical angular resolution of the lidar, it is necessary to base it on the coordinate system of the lidar; for example, if during the joint calibration process of the binocular camera system and the lidar, the coordinate system of the binocular camera system has been converted to coincide with the coordinate system of the lidar, then the calculation can be performed directly based on the above-mentioned second coordinate; if the coordinate of the binocular camera system has not been converted, then it is necessary to convert the second coordinate of each point in the target point cloud to the coordinate system of the lidar based on the above-mentioned position association relationship for calculation.

[0118] Continuing the example above where some points in the target point cloud include A, B, C, and D, the center coordinates of A, B, C, and D are recorded as A0, B0, C0, and D0, respectively. After converting A0, B0, C0, and D0 to the coordinate system of the lidar, the center coordinates of each point after conversion are A1, B1, C1, and D1, respectively. That is, the first coordinate of A is A1, the first coordinate of B is B1, the first coordinate of C is C1, and the first coordinate of D is D1. Among them, points A and C are adjacent in the vertical direction and constitute a second target point group, and points B and D are adjacent in the vertical direction and constitute another second target point group.

[0119] After obtaining the second target point group, the horizontal angular separation between two adjacent points in the first target point group is calculated based on the first coordinates of the two adjacent points. For example, the vertical angular separation between A and C can be calculated using A1 and C1, and the vertical angular separation between B and D can be calculated using B1 and D1. This angular separation is the vertical angular resolution at that location. By selecting the second target point group at the desired location based on actual needs, the vertical angular resolution of that desired location can be determined; by traversing the entire target point cloud, the distribution of the vertical angular resolution of the lidar at a preset field of view angle can be determined.

[0120] In addition to measuring angular resolution, embodiments of the present application also provide a solution for measuring angular accuracy. In one possible implementation, after determining the angular resolution of the laser radar based on the first coordinates of each point in the target point cloud, the above measurement method further includes the following solution:

[0121] Obtaining second coordinates of each point in the target point cloud of the laser radar, where the second coordinates are measurement values ​​of the laser radar;

[0122] The angular accuracy of the laser radar is determined based on the second coordinates and the first coordinates corresponding to each point in the target point cloud.

[0123] The LiDAR is controlled to scan the target at a preset field of view angle. The LiDAR acquires the target point cloud, and then obtains the second coordinates of each point in the target point cloud from the target point cloud acquired by the LiDAR. That is, the second coordinates of each point in the target point cloud are the LiDAR measurement values, which are data directly measured by the LiDAR. After obtaining the first and second coordinates of each point in the target point cloud, the LiDAR's angular accuracy is calculated based on the first and second coordinates of each point in the target point cloud. The LiDAR's angular accuracy includes the angular accuracy of the LiDAR scan and the repeatability of the LiDAR measurement.

[0124] In one possible implementation, determining the angular accuracy of the laser radar based on the second coordinates and the first coordinates corresponding to each point in the target point cloud includes the following solutions:

[0125] Obtaining an angular deviation of each point in the target point cloud according to the second coordinates and the first coordinates corresponding to each point in the target point cloud in each frame;

[0126] Determining the angular accuracy of the laser radar scan based on the angular deviation of each point in the target point cloud for a preset number of frames;

[0127] The repeatability of the laser radar measurement is determined based on the angular deviation of each point in the target point cloud for a preset number of frames.

[0128] Angular accuracy refers to the angular difference between the LiDAR's measured value and the true value of a point in the target point cloud. To determine angular accuracy, as previously mentioned, if the first coordinate already corresponds to the LiDAR's coordinate system, the angular deviation of a point in the target point cloud can be determined directly based on the first and second coordinates. If the first coordinate does not correspond to the LiDAR's coordinate system, it must be converted to the LiDAR's coordinate system and then compared with the second coordinate to determine the angular deviation of a point in the target point cloud. By traversing the entire target point cloud, the angular accuracy of each point in the entire target point cloud can be determined.

[0129] Since the angular deviation of a single-frame point cloud may be somewhat random, it is possible to obtain multiple frames of target point cloud to calculate the angular deviation in order to eliminate accidental errors during measurement. Specifically, after obtaining a preset number of target point clouds, the angular deviation of the multiple-frame target point clouds can be determined by mathematical statistics; for example, for the same point in each frame of the target point cloud (this point can be determined by the emission timing of the laser radar or the direction angle of the scanning module), the angular deviation of the point can be calculated separately, and then the angular deviation of each frame can be averaged to obtain the angular accuracy of the laser radar scan.

[0130] Repeatability refers to the accuracy of the actual landing point of the same point in the multi-frame target point cloud formed by repeated scanning of the laser radar compared to the expected physical location. The determination of repeatability can also be based on multiple angular deviations of the same point in the target point cloud of a preset number of frames. Specifically, it can be considered that the same point in the multi-frame target point cloud actually corresponds to the same true value. At this time, the repeatability can be determined based on the difference between the measured value and the true value of the laser radar multi-frame; for example, taking the same point as an example, the above-mentioned method of determining angular accuracy can be referred to to obtain the angular deviation of the same point in the multi-frame target point cloud, and then the statistical method of variance or standard deviation can be used to determine the repeatability of the point based on the multiple angular deviations. By traversing the entire target point cloud and the target point cloud of the preset number of frames, the repeatability of each point in the target point cloud can be determined, that is, the repeatability of the laser radar scan.

[0131] The above method not only realizes the accurate measurement of the angle accuracy of the laser radar with high measurement accuracy, but also fills the technical gap in the measurement of the angle accuracy of the laser radar.

[0132] In one possible implementation, Figure 5 As shown, Figure 5 The figure shows a schematic diagram of the setup of the laser radar and binocular camera system. The laser radar 100, the first camera 201, and the second camera 202 are fixedly mounted on a turntable 400. The laser radar 100 is located between the first camera 201 and the second camera 202. When the turntable 400 rotates, the laser radar 100, the first camera 201, and the second camera 202 can be driven to rotate synchronously. The field of view of the laser radar 100 includes a first sub-field of view angle, a second sub-field of view angle, and a third sub-field of view angle arranged in sequence along a preset direction, as shown in FIG. Figure 3 As described above, F1 may represent a first sub-viewing angle, F2 may represent a second sub-viewing angle, and F3 may represent a third sub-viewing angle.

[0133] Before the steps of controlling the laser radar to scan the target at a preset field of view angle and controlling the binocular camera system to acquire an image of the target, the measurement method further includes the following solutions:

[0134] The turntable is controlled to rotate so that one of the first sub-viewing angle, the second sub-viewing angle, and the third sub-viewing angle serves as the preset viewing angle.

[0135] When the preset field of view angle is part of the laser radar's field of view angle, the turntable can be controlled to rotate so that this part of the field of view angle faces the target, so that the angular resolution of this part of the field of view angle can be measured. After the angular resolution measurement of this part of the field of view angle is completed, the turntable can be controlled to rotate again so that another part of the preset field of view angle faces the target, so that the angular resolution of another part of the preset field of view angle can be measured. And so on, the angular resolution of the entire field of view angle of the laser radar can be measured. For example, when the preset field of view angle is the first sub-field of view angle, the turntable is controlled to rotate so that the first sub-field of view angle faces the target, thereby performing angular resolution measurement of the first sub-field of view angle; after the angular resolution measurement of the first sub-field of view angle is completed, the turntable is controlled to rotate so that the second sub-field of view angle faces the target, thereby performing angular resolution measurement of the second sub-field of view angle; after the angular resolution measurement of the second sub-field of view angle is completed, the turntable is controlled to rotate so that the third sub-field of view angle faces the target, thereby performing angular resolution measurement of the third sub-field of view angle, thereby completing the angular resolution measurement of the entire field of view angle of the laser radar.

[0136] For lidars with a large field of view, it is difficult to detect the angular resolution of the entire field of view at once. This embodiment of the present application splits the lidar's field of view, allowing for measurement without the need for a large target area. Furthermore, some lidars may have different angular resolutions in different sub-fields of view. For example, the angular resolution of the second sub-field of view may be higher than that of the first and third sub-fields of view. This embodiment's method of splitting the field of view ensures greater consistency in the angular resolution of the point cloud within the currently measured sub-field of view, facilitating the joint calibration of the lidar and binocular camera system.

[0137] Furthermore, this application does not place high demands on the turntable. The rotation of the turntable can be controlled automatically or manually, making it simple to control the orientation of the entire or partial field of view of the laser radar. A high-precision turntable is not required, which helps reduce measurement hardware costs. Furthermore, the turntable may not be required, and the orientation of the entire or partial field of view of the laser radar, as well as the orientation of the field of view of the first and second cameras, can be manually controlled, thereby saving measurement hardware costs.

[0138] In summary, the method for measuring lidar resolution provided in the embodiments of the present application has the following advantages:

[0139] 1. It can realize the measurement of lidar angular resolution, which can not only achieve accurate measurement of higher angular resolution, but also accurate measurement of low angular resolution.

[0140] 2. It can realize the accurate measurement of the angle accuracy of the laser radar with high measurement accuracy.

[0141] 3. The measurement of angular resolution is not restricted by the site, and the measurement site selection is convenient, which is conducive to saving site costs.

[0142] 4. For lidars with a large field of view, the lidar and binocular camera system are mounted on a turntable. By rotating the turntable, the angular resolution of a portion of the lidar's field of view can be measured, thereby completing the angular resolution measurement of the lidar's entire field of view. This application does not require a high level of precision, and the turntable can be automatically or manually controlled, which helps reduce the hardware cost of the measurement.

[0143] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0144] Figure 6 FIG. 1 shows a schematic diagram of the structure of a measuring device provided in an embodiment of the present application. Figure 6 As shown, the measuring device 700 includes:

[0145] A point cloud acquisition module 710 is configured to control a laser radar to scan a target at a preset field of view angle to acquire a target point cloud, wherein the preset field of view angle is at least a portion of the field of view angle of the laser radar;

[0146] a point cloud mapping module 720 for mapping the two-dimensional image of the target point cloud to the binocular camera system according to the positional association relationship between the laser radar and the binocular camera system; wherein the binocular camera system includes a first camera and a second camera;

[0147] A first calculation module 730 is configured to determine, based on the binocular camera system, first coordinates of each point in the target point cloud mapped to the binocular camera system, where the first coordinates are three-dimensional coordinates;

[0148] The second calculation module 740 is used to determine the angular resolution of the laser radar according to the first coordinates of each point in the target point cloud.

[0149] In a possible implementation, the measuring device 700 further includes:

[0150] A first calibration unit is configured to control the laser radar to scan the target at the preset field of view angle to obtain a calibration point cloud; control the binocular camera system to obtain a calibration image of the target; and determine a positional association relationship between the laser radar and the binocular camera system based on the calibration point cloud and the calibration image; wherein the target is provided with a preset pattern.

[0151] In a possible implementation, the measuring device 700 further includes:

[0152] A second calibration unit is used to control the binocular camera system to obtain a calibration image of the target; and to determine the positional association relationship between the laser radar and the binocular camera system based on the target point cloud and the calibration image; wherein the target is provided with a preset pattern.

[0153] In one possible implementation, the preset pattern includes a plurality of rectangular cells, and the preset pattern satisfies at least one of the following conditions: a) the colors of any two adjacent cells are different; b) the lengths of the connecting edges of at least two adjacent cells are different.

[0154] In one possible implementation, the point cloud mapping module 720 includes:

[0155] a first mapping unit, configured to map the two-dimensional image of the target point cloud to the first camera to obtain a first image according to the position association relationship;

[0156] The second mapping unit is configured to map the two-dimensional image of the target point cloud to the second camera according to the position association relationship to obtain a second image.

[0157] The first calculation module 730 is specifically configured to determine the first coordinates of each point in the target point cloud according to the first image and the second image.

[0158] In a possible implementation, the measuring device 700 further includes:

[0159] a camera control unit, configured to control the first camera to acquire a first preliminary image of the target; and control the second camera to acquire a second preliminary image of the target;

[0160] a first mapping unit, specifically configured to map the two-dimensional image of the target point cloud to the first preliminary image according to the position association relationship, so as to obtain the first image;

[0161] The second mapping unit is specifically configured to map the two-dimensional image of the target point cloud to the second preliminary image according to the position association relationship to obtain the second image.

[0162] In one possible implementation, the second calculation module 740 includes:

[0163] a horizontal resolution calculation unit, configured to obtain an angular interval corresponding to a first target point group in the horizontal direction based on first coordinates of two points on both sides of the first target point group, wherein the first target point group includes a plurality of points arranged in the horizontal direction; and determine the horizontal angular resolution of the first target point group based on the angular interval and the number of points corresponding to the first target point group.

[0164] In one possible implementation, the second calculation module 740 includes:

[0165] a vertical resolution calculation unit, configured to obtain an angular interval corresponding to the second target point group in the vertical direction based on the first coordinates of two points on both sides of the second target point group, wherein the second target point group includes a plurality of points arranged in the vertical direction; and determine the vertical angular resolution of the second target point group based on the angular interval and the number of points corresponding to the second target point group.

[0166] In a possible implementation, the measuring device 700 further includes:

[0167] a measurement value acquisition unit, configured to acquire a second coordinate of each point in the target point cloud of the laser radar, wherein the second coordinate is a measurement value of the laser radar;

[0168] An accuracy calculation unit is used to determine the angular accuracy of the laser radar based on the second coordinates and the first coordinates corresponding to each point in the target point cloud.

[0169] In one possible implementation, the above-mentioned accuracy calculation unit is specifically used to obtain the angular deviation of each point in the target point cloud based on the second coordinate and the first coordinate corresponding to each point in the target point cloud in each frame; determine the angular accuracy of the laser radar scanning based on the angular deviation of each point in the target point cloud for a preset number of frames; determine the repeatability of the laser radar measurement based on the angular deviation of each point in the target point cloud for a preset number of frames.

[0170] In one possible implementation, the laser radar, the first camera, and the second camera are arranged on a turntable, the laser radar is located between the first camera and the second camera, the field of view of the laser radar includes a first sub-field of view angle, a second sub-field of view angle, and a third sub-field of view angle arranged sequentially along a preset direction, and the above-mentioned measurement device 700 further includes:

[0171] A turntable control unit is used to control the turntable to rotate so that one of the first sub-viewing angle, the second sub-viewing angle and the third sub-viewing angle serves as the preset viewing angle.

[0172] It should be noted that the measurement device provided in the above embodiment only uses the division of the above functional modules as an example when executing the laser radar resolution measurement method. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the measurement device provided in the above embodiment and the embodiment of the laser radar resolution measurement method are of the same concept. Therefore, for details not disclosed in the embodiment of the device of this application, please refer to the embodiment of the laser radar resolution measurement method of this application, which will not be repeated here.

[0173] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0174] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown. Figure 7 As shown, the electronic device 800 includes: a binocular camera system, a memory 801 and a processor 802, wherein the binocular camera system includes a first camera and a second camera, the first camera and the second camera are arranged on a turntable, the memory 801 stores an executable program code 8011, and the processor 802 is used to call and execute the executable program code 8011 to perform a lidar resolution measurement method.

[0175] In this embodiment, the electronic device can be divided into functional modules according to the above-described method example. For example, each functional module can be mapped to a specific function, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0176] When the functional modules are divided according to their functions, the electronic device may include: a point cloud acquisition module, a point cloud mapping module, a first calculation module, a second calculation module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0177] The electronic device provided in this embodiment is used to execute the above-mentioned method for measuring the resolution of a laser radar, and thus can achieve the same effect as the above-mentioned implementation method.

[0178] In the case of an integrated unit, the electronic device may include a processing module and a storage module. The processing module may be used to control and manage the operation of the electronic device, and the storage module may be used to support the electronic device in executing mutual program codes and data.

[0179] The processing module may be a processor or controller that implements or executes the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and the storage module may be a memory.

[0180] This embodiment also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a laser radar resolution measurement method in the above-mentioned embodiment.

[0181] This embodiment also provides a computer program product. When the computer program product runs on a computer, it enables the computer to execute the above-mentioned related steps to implement a method for measuring the laser radar resolution in the above-mentioned embodiment.

[0182] In addition, the electronic device provided in the embodiments of the present application can specifically be a chip, component or module, and the electronic device may include a connected processor and memory; wherein the memory is used to store instructions, and when the electronic device is running, the processor can call and execute the instructions to enable the chip to execute a lidar resolution measurement method in the above-mentioned embodiment.

[0183] Among them, the electronic device, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding lidar resolution measurement method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding lidar resolution measurement method provided above, and will not be repeated here.

[0184] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0185] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, 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 through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0186] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for measuring laser radar resolution, characterized in that: include: Controlling the laser radar to scan the target at a preset field of view angle to obtain a target point cloud, wherein the preset field of view angle is at least a portion of the field of view angle of the laser radar; Mapping the two-dimensional image of the target point cloud to the binocular camera system according to the positional association relationship between the laser radar and the binocular camera system; wherein the binocular camera system includes a first camera and a second camera; Determining, according to the binocular camera system, first coordinates of each point in the target point cloud mapped to the binocular camera system, wherein the first coordinates are three-dimensional coordinates; and The angular resolution of the laser radar is determined according to the first coordinates of each point in the target point cloud.

2. The method for measuring laser radar resolution according to claim 1, wherein: Before the step of controlling the laser radar to scan the target at a preset field of view angle to obtain a target point cloud, the method further includes: Controlling the laser radar to scan the target at the preset field of view angle to obtain a calibration point cloud; controlling the binocular camera system to acquire a calibration image of the target; and Determining a positional correlation relationship between the laser radar and the binocular camera system according to the calibration point cloud and the calibration image; Wherein, the target is provided with a preset pattern.

3. The method for measuring laser radar resolution according to claim 1, wherein: The method further comprises: controlling the binocular camera system to acquire a calibration image of the target; and Determining a positional correlation relationship between the laser radar and the binocular camera system according to the target point cloud and the calibration image; Wherein, the target is provided with a preset pattern.

4. The method for measuring laser radar resolution according to claim 1, wherein: The method of mapping the two-dimensional image of the target point cloud to the binocular camera system according to the positional association relationship between the laser radar and the binocular camera system includes: According to the position association relationship, mapping the two-dimensional image of the target point cloud to the first camera to obtain a first image; and mapping the two-dimensional image of the target point cloud onto the second camera according to the position association relationship to obtain a second image; The step of determining, based on the binocular camera system, first coordinates of each point in the target point cloud mapped to the binocular camera system includes: Determine first coordinates of each point in the target point cloud based on the first image and the second image.

5. The method for measuring laser radar resolution according to claim 4, characterized in that: The method further comprises: controlling the first camera to acquire a first preliminary image of the target; and controlling the second camera to acquire a second preliminary image of the target; Mapping the two-dimensional image of the target point cloud to the first camera to obtain a first image according to the position association relationship includes: mapping the two-dimensional image of the target point cloud onto the first preliminary image according to the position association relationship to obtain the first image; Mapping the two-dimensional image of the target point cloud to the second camera to obtain a second image according to the position association relationship includes: According to the position association relationship, the two-dimensional image of the target point cloud is mapped to the second preliminary image to obtain the second image.

6. The method for measuring laser radar resolution according to claim 1, wherein: Determining the angular resolution of the laser radar according to the first coordinates of each point in the target point cloud includes: Obtaining an angular interval corresponding to the first target point group in the horizontal direction according to first coordinates of two points on both sides of the first target point group, wherein the first target point group includes a plurality of points arranged in the horizontal direction; and The horizontal angular resolution of the first target point group is determined according to the angular interval and the number of points corresponding to the first target point group.

7. The method for measuring laser radar resolution according to claim 1, wherein: Determining the angular resolution of the laser radar according to the first coordinates of each point in the target point cloud includes: Obtaining an angular interval corresponding to the second target point group in the vertical direction according to first coordinates of two points on both sides of the second target point group, wherein the second target point group includes a plurality of points arranged in the vertical direction; and The vertical angular resolution of the second target point group is determined according to the angular interval and the number of points corresponding to the second target point group.

8. The method for measuring laser radar resolution according to claim 1, wherein: After determining the angular resolution of the laser radar according to the first coordinates of each point in the target point cloud, the method further includes: Obtaining second coordinates of each point in the target point cloud of the laser radar, where the second coordinates are measurement values ​​of the laser radar; The angular accuracy of the laser radar is determined based on the second coordinates and the first coordinates corresponding to each point in the target point cloud.

9. The method for measuring laser radar resolution according to claim 8, characterized in that: The determining the angular accuracy of the laser radar according to the second coordinates and the first coordinates corresponding to each point in the target point cloud includes: Obtaining an angular deviation of each point in the target point cloud according to the second coordinates and the first coordinates corresponding to each point in the target point cloud in each frame; Determining the angular accuracy of the laser radar scan based on the angular deviation of each point in the target point cloud for a preset number of frames; The repeatability of the laser radar measurement is determined based on the angular deviation of each point in the target point cloud for a preset number of frames.

10. The method for measuring laser radar resolution according to any one of claims 1 to 9, characterized in that: The laser radar, the first camera, and the second camera are arranged on a turntable, the laser radar is located between the first camera and the second camera, and the field of view of the laser radar includes a first sub-field of view angle, a second sub-field of view angle, and a third sub-field of view angle arranged in sequence along a preset direction; Before the steps of controlling the laser radar to scan the target at a preset field of view angle and controlling the binocular camera system to acquire an image of the target, the method further includes: The turntable is controlled to rotate so that one of the first sub-viewing angle, the second sub-viewing angle, and the third sub-viewing angle serves as the preset viewing angle.

11. A measuring device, characterized in that: The measuring device comprises: a point cloud acquisition module, configured to control the laser radar to scan the target at a preset field of view angle to acquire a target point cloud, wherein the preset field of view angle is at least a portion of the field of view angle of the laser radar; a point cloud mapping module, configured to map the two-dimensional image of the target point cloud to the binocular camera system according to a positional association relationship between the laser radar and the binocular camera system; wherein the binocular camera system includes a first camera and a second camera; A first calculation module is configured to determine, based on the binocular camera system, first coordinates of each point in the target point cloud mapped to the binocular camera system, where the first coordinates are three-dimensional coordinates; The second calculation module is used to determine the angular resolution of the laser radar according to the first coordinates of each point in the target point cloud.

12. An electronic device, characterized in that: The electronic device comprises: A binocular camera system, comprising a first camera and a second camera, wherein the first camera and the second camera are arranged on a turntable; a memory for storing executable program code; A processor, configured to call and run the executable program code from the memory, so that the electronic device executes the laser radar resolution measurement method as described in any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed, it implements the laser radar resolution measurement method as described in any one of claims 1 to 10.

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