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Radar system calibration method and device, electronic equipment and storage medium

A calibration method and radar system technology, applied to radio wave measurement systems, instruments, etc., can solve problems such as heavy workload, complicated calibration operation, and many limiting conditions

Active Publication Date: 2020-04-10
苏州万集车联网技术有限公司
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Problems solved by technology

In the prior art, a calibration board is used to calibrate the relative pose of multiple laser radars by using the calibration marks on the calibration board. The update of the parameters requires re-setting the calibration board in the scene and re-acquisition of the calibration data, which requires a large workload

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  • Radar system calibration method and device, electronic equipment and storage medium
  • Radar system calibration method and device, electronic equipment and storage medium
  • Radar system calibration method and device, electronic equipment and storage medium

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Embodiment Construction

[0029] In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments It is a part of the embodiments of the present disclosure, but not all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present disclosure.

[0030] With the development of intelligent transportation technology, the sensors used for traffic information environment perception mainly include cameras, millimeter-wave radars, and lidars. Among them, lidar has become the mainstream sensor in traffic information environment perception due to its long detection distance and high detectio...

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Abstract

The embodiment of the invention provides a radar system calibration method and device, electronic equipment and a storage medium. The radar system calibration method comprises the steps of: acquiringradar data obtained by scanning of a plurality of laser radars in a radar system at the same moment; processing the radar data to obtain a radar coordinate system; in a scanning overlapping region formed by scanning surfaces of a main laser radar and an auxiliary laser radar, respectively acquiring main radar data and auxiliary radar data of a plane angle point of a target object, carrying out optimizing iterative operation on the main radar data and the auxiliary radar data to determine the pose parameters of the auxiliary laser radar relative to the main laser radar, thus enabling all laserradars in the radar system to find out radar data of the plane angle point of the target object under a plurality of laser radars directly based on the radar data, also determining the pose parametersof the laser radars based on the radar data, and completing calibration of the laser radars in the radar system. The calibration operation is simple, and the method can be suitable for different scenes and has high applicability.

Description

technical field [0001] Embodiments of the present disclosure relate to the technical field of laser radar, and in particular, to a calibration method, device, electronic equipment, and storage medium of a radar system. Background technique [0002] With the development of intelligent transportation technology, the sensors used for traffic information environment perception mainly include cameras, millimeter-wave radars, and lidars. Among them, lidar has become the mainstream sensor in traffic information environment perception due to its long detection distance and high detection accuracy. [0003] Due to the limitation of the working range of a single laser radar, it is possible to use the combination of multiple laser radars to achieve the acquisition of full-view environmental information around the scene when acquiring traffic information environment perception. In this process, it is necessary to calibrate the relative pose of multiple lidars in order to obtain accurat...

Claims

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Application Information

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IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 刘建超王邓江杨瀚李娟娟邓永强
Owner 苏州万集车联网技术有限公司
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