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A method and device for automatic calibration of laser radar parameters and laser radar

A laser radar and automatic calibration technology, applied in the direction of radio wave measurement systems, instruments, etc., can solve the problems of reducing the fitting accuracy of the spatial coordinates of the cone top, the inability to fit the spatial coordinates of the cone top, and low error correction capabilities, etc., to achieve full Automatic and high-precision calibration, low integrity requirements, and the effect of improving accuracy

Active Publication Date: 2020-05-01
BEIJING SURESTAR TECH
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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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  • A method and device for automatic calibration of laser radar parameters and laser radar
  • A method and device for automatic calibration of laser radar parameters and laser radar
  • A method and device for automatic calibration of laser radar parameters and laser radar

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[0058] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0059] figure 1 It is a schematic diagram of a lidar calibration field of the present invention.

[0060] In order to realize the automatic calibration of the lidar, the calibration field 1 needs to be arranged. The calibration field 1 is usually set in a fixed place indoors or outdoors. The distance between the two facing walls of the calibration field 1 is not less than 10m, and the first visible markers 2 and the second markers 3 are uniformly...

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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 invention relates to the technical field of laser radar, in particular to a method and device for automatic calibration of laser radar parameters and the laser radar. Background technique [0002] Three-dimensional laser measurement technology is a means of obtaining high-precision spatial information. In order to achieve high-precision measurement of laser radar, accurate calibration of laser radar parameters must be carried out in advance to improve the accuracy of laser radar measurement and ensure the output of laser radar in the working scene. Data reliability. [0003] In the traditional laser radar calibration method, several triangular / square pyramids or reflectors are evenly arranged in the calibration field. After the laser radar scans the calibration field, the laser point cloud of the cone surface is manually extracted from the scanned data. After fitting these laser point clouds to the spatial coordinates of the cone top, the lidar pa...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 张智武
Owner BEIJING SURESTAR TECH
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