Laser radar attitude calibration method and device

Abstract

The invention discloses a laser radar attitude calibration method, and the method comprises the steps: obtaining original road surface point cloud data, carrying out the clustering of the original road surface point cloud data to filter interference point clouds, and obtaining a first road surface point cloud; performing three-dimensional plane fitting based on the first road surface point cloud to determine a pitch angle and a roll angle of the laser radar; rotating the first road surface point cloud based on the pitch angle and the roll angle to obtain a second road surface point cloud, determining the height value of the laser radar based on the second road surface point cloud, and extracting a vertical plane point cloud from the second road surface point cloud; clustering the vertical plane point clouds to obtain one or more sections of candidate point clouds, and selecting one section of candidate point clouds with the best straightness as the best straight line point clouds by using a PCA (Principal Component Analysis) algorithm; determining a yaw angle of the laser radar based on the optimal straight line point cloud; and performing laser radar attitude calibration based on the pitch angle, the roll angle and the yaw angle of the laser radar. Therefore, the distance measurement accuracy of the laser radar in an actual measurement scene can be improved.

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