The invention discloses an automatic
calibration algorithm for a multi-group multi-line
laser radar. The automatic
calibration algorithm is implemented as follows: S1, a coordinate transformation relation initial value Tguess of a
laser radar A and a
laser B is estimated; S2, local sub map M construction is carried out on
point cloud data collected by the laser
radar A; S3, on the basis of hypotheses of
data synchronization and track synchronization, the
point data P<n>B are transformed to positions at the local sub map M at a time n by T<n>A and the Tguess and a near point at the local sub map M is found out by using a nearest neighbor
point cloud searching
algorithm; S4, on the basis of an environment consistency constraint, a multi-group calibration relation T<n>cali; between the laser radar A and the laser radar B is calculated; and S5, an abnormal sample point in a multi-group
calibration matrix is eliminated by using a random sampling consistency rule and then averaging is carried out to obtain Tcali. According to the automatic
calibration algorithm, a coordinate relationship between radars can be calibrated automatically only according to synchronization radar of the laser radar sensor, so that the operation becomes efficient and convenient; and the automatic calibration
algorithm can be applied to calibration of a multi-radar
system.