Multi-beam Lidar Angular Resolution Measurement via Checkerboard Calibration
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Solution Overview
Problem
Existing multi-beam lidars rely on unreliable manufacturer-provided angular resolution parameters and expensive dot matrix measurement methods, which limit the accuracy and cost-effectiveness of determining the angular resolution essential for environmental sensing.
Innovation Solution
A method and apparatus that utilize a checkerboard calibration plate scanned by a multi-beam lidar, where an image is acquired and processed to determine the physical length of a unit pixel, identify center and light spot pairs, and calculate the angular resolution based on the angle between laser beams, enabling reliable and cost-effective measurement of angular resolution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manufacturer-provided angular resolution parameters are used, then the measurement process is simple, but the reliability of the parameter is poor
Solution Approach 1:
The system uses the lidar itself to measure its own angular resolution by scanning a checkerboard calibration plate and processing the returned signals to calculate the angular resolution, eliminating the need for external precise measurement instruments while ensuring reliability through self-validation
Solution Approach 2:
The patent replaces complex mechanical measurement instruments with a software-based image processing system that analyzes the checkerboard pattern captured by the lidar, substituting physical measurement equipment with computational methods to achieve both simplicity and reliability
2Measurement precision
If dot matrix measurement method is used, then the measurement precision is improved, but the device cost increases
Solution Approach 1:
The patent uses a standard checkerboard calibration plate, which is a low-cost, readily available object, instead of expensive specialized measurement equipment. The checkerboard can be easily manufactured and replaced, providing precise measurement without high device cost
Solution Approach 2:
The system captures an image copy of the checkerboard calibration plate using the lidar's own receiver and processes this digital copy to determine angular resolution, eliminating the need for expensive physical measurement instruments while maintaining measurement precision
Data Source
AI summary
A method and apparatus for measuring an angular resolution of a multi-beam lidar. The method includes: acquiring, when a checkerboard calibration plate is scanned by a multi-beam lidar, an image of the checkerboard calibration plate photographed by a camera; identifying a checkerboard in the image, and determining a physical length characterized by a unit pixel of the image based on shape and length information of each checker in the checkerboard calibration plate; determining a center light spot and a light spot pair in the image; determining an angle between a laser beam corresponding to each light spot of the light spot pair and a laser beam corresponding to the center light spot based on the physical length characterized by the unit pixel, the center light spot and the light spot pair; and determining the angular resolution of the multi-beam lidar based on the determined angle.