Parameter calibration method, device and equipment of multi-line laser radar, and readable medium

Abstract

The invention provides the parameter calibration method, device and equipment of a multi-line laser radar, and a readable medium. The method comprises the following steps of creating the three-dimensional scene model of a calibration scene based on the data of the calibration scene collected by a calibrated three-dimensional scanner; acquiring point cloud data collected by the multi-line laser radar to be calibrated at multiple position points in the calibration scene; aligning the point cloud data collected by the multi-line laser radar at each position point and the point cloud data in the three-dimensional scene model to a same coordinate system through the principle of aligning each position point with the corresponding position point in the three-dimensional scene model; establishinga target function between the data of each point collected by the multi-line laser radar in the same coordinate system and the data of a matching point which is nearest to the point in the three-dimensional scene model; and according to the target function, calibrating the parameter of the multi-line laser radar. In the technical scheme, a complex calibration scene does not need to be establishedand the calibration efficiency of the parameter of the multi-line laser radar can be effectively increased.

Description

【Technical field】 [0001] The present invention relates to the field of computer application technology, in particular to a parameter calibration method, device, device and readable medium of a multi-line laser radar. 【Background technique】 [0002] In many fields such as unmanned driving, robotics, and surveying and mapping, multi-line lidar is a commonly used sensor device for accurately measuring the orientation and distance information of obstacles in the surrounding environment, but the measurement accuracy of multi-line lidar It is closely related to its own internal parameters and external parameters of the relative mounted machine. Therefore, in the prior art, it is necessary to calibrate the internal and / or external parameters of the multi-line lidar to improve the measurement accuracy of the multi-line lidar. [0003] The calibration of multi-line lidar in the prior art is divided into supervised and unsupervised according to whether the scene is modeled. Among th...

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Problems solved by technology

[0004] However, in the existing supervised calibration technology, when calibrating the parameters of multi-line lidar, the process of establishing the calibration scene is very complicated, time-consuming and laborious, resulting in low efficiency of multi-line lidar parameter calibration

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