Laser Scanner Calibration Using Point Cloud Pose Offsets
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Solution Overview
Problem
The existing method for calibrating laser scanning devices in unmanned vehicles is inefficient due to the need for manual establishment of a calibration field and manual measurement of coordinates, which reduces the calibration efficiency.
Innovation Solution
A method and apparatus for calibrating a laser scanning device using a computer device that scans a target region based on a preset scanning route, extracts coordinates of surface features from point cloud data, and calculates pose offsets to determine the laser extrinsic parameters, thereby automating the calibration process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual measurement and identification methods are used to determine coordinates of calibration points, then the calibration process can be completed, but the calibration efficiency is low
Solution Approach 1:
The patent replaces manual mechanical measurement methods with automated laser scanning and computer vision technology. The laser scanning device automatically captures point cloud data of the calibration field, and the terminal automatically identifies calibration points and calculates their coordinates through image processing algorithms, eliminating the need for manual measurement and significantly improving calibration efficiency.
Solution Approach 2:
The system enables self-service calibration by allowing the laser scanning device and terminal to automatically perform calibration without human intervention. The terminal automatically processes point cloud data, identifies calibration points, calculates coordinates in both vehicle and laser coordinate systems, and determines pose offsets, making the calibration process autonomous and efficient.
2Ease of operation
If a calibration field with multiple calibration points is established manually, then coordinate determination is possible, but the process becomes complex and time-consuming
Solution Approach 1:
The patent replaces complex manual calibration field setup with automated laser scanning. Instead of manually establishing calibration fields and measuring coordinates, the system uses laser scanning to automatically capture three-dimensional information of calibration points and uses computer vision algorithms to automatically identify and process these points, greatly simplifying the operation process.
Solution Approach 2:
The system creates a digital copy of the calibration field through laser scanning, generating point cloud data that represents the physical calibration field. This digital model allows for automated processing and analysis without requiring physical manipulation or manual measurement of the actual calibration field, simplifying the overall process.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The proposed method significantly improves the efficiency of laser scanning device calibration by automating the process, reducing manual intervention, and enhancing the accuracy of determining laser extrinsic parameters using multiple frames of point cloud data.
Implementation Method 1
a laser scanning device by scanning the target region based on a preset scanning route to obtain at least two frames of point cloud data
Data Source
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AI summary
A laser scanning device (101) calibration method, comprising: acquiring, on the basis of at least two frames of point cloud data obtained by scanning a target area by the laser scanning apparatus (101), the first coordinates of a ground feature element in each frame of point cloud data, the first coordinates being coordinates of the ground feature element in a laser coordinate system; determining, on the basis of map data of the target area of a vehicle, the second coordinates of the ground feature element in each frame of point cloud data in a vehicle coordinate system; determining, for each frame of point cloud data, an offset posture of each frame point cloud data according to the first coordinates and second coordinates of the ground feature element; and calculating the value of a laser external parameter of the laser scanning device (101) according to the offset postures of the at least two frames of point cloud data, so as to calibrate the laser scanning device (101)..