Automatic calibration method and device of laser radar parameters and laser radar

Abstract

The invention discloses an automatic calibration method and device of laser radar parameters and a laser radar. The method comprises the steps of (10) setting a first marker with a first marking point in a calibration field, using the laser radar to carry out laser scanning on the calibration field and obtaining scanning data, (20) fitting the scanning data of a position where the first marker is located, and obtaining the fitting space coordinate of the first marking point, and (30) calculating the laser radar parameters by using an error between the fitting space coordinate and the measurement space coordinate of the first marking point, and carrying out the automatic calibration by using the calculated laser radar parameters. According to the method, device and the laser radar, the fully automatic high precision calibration of the laser radar is realized, the density requirement of a laser point is low, the integrity requirement of marker scanning is low, and the automatic precision inspection and evaluation of calibrated laser radar measurement precision can be carried out.

Description

Technical field [0001] The present invention relates to the technical field of lidar, in particular to a method, device and lidar for automatic calibration of lidar parameters. Background technique [0002] Three-dimensional laser measurement technology is a high-precision spatial information acquisition method. In order to achieve high-precision measurement of lidar, precise calibration of lidar parameters must be carried out in advance to improve the measurement accuracy of lidar and ensure the output of lidar in the work scene Data reliability. [0003] The traditional Lidar calibration method usually arranges several triangles / quadron pyramids or reflectors uniformly in the calibration field. After the Lidar scans the calibration field, the laser point cloud of the cone is manually extracted from the scan data. These laser point clouds are fitted to the spatial coordinates of the top of the cone to further calculate the lidar parameters. [0004] However, manually extracting th...

AI Technical Summary

Problems solved by technology

If the scan fails to obtain the point cloud of three or more cones, the spatial coordinates of the cone top cannot be fitted due to the lack of information on some of the cones. It can be seen that the triangular / square pyramid is based on its The shape has higher requirements for scanning integrity, and the error correction ability is low

And if there are not enough laser points on the cone surface, the fitting accuracy of the spatial coordinates of the cone top will also be reduced, so there is a higher requirement for the density of the laser point cloud

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