Sensor calibration method, moving object and storage medium

A calibration method and a technology of moving objects, which are applied in the field of unmanned driving and/or robots, can solve problems such as high cost, complicated calibration methods, and inaccurate calibration, so as to improve accuracy, avoid inaccurate calibration, and increase the scope of application Effect

Inactive Publication Date: 2020-06-19
CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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Problems solved by technology

[0003] The inventors found the following problems in related technologies: the calibration of external parameters of IMU and lidar becomes a difficult problem in the fusion process, and the calibration of external parameters of lidar refers to the conversion relationship between the coordinate system of laser radar and the coordinate system of IMU. The calibration method is very complicated, the cost is high, and the calibration is not accurate

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  • Sensor calibration method, moving object and storage medium
  • Sensor calibration method, moving object and storage medium
  • Sensor calibration method, moving object and storage medium

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Embodiment Construction

[0025] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, various implementation modes of the present invention will be described in detail below in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that, in each implementation manner of the present invention, many technical details are provided for readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following implementation modes, the technical solution claimed in this application can also be realized.

[0026] The division of the following embodiments is for the convenience of description, and should not constitute any limitation to the specific implementation of the present invention, and the various embodiments can be combined and referenced to each other on the premise of no contradiction.

[0027]The in...

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Abstract

The embodiment of the invention relates to the field of unmanned driving and / or robots. The invention discloses a calibration method of a sensor, the method is applied to a moving object, the moving object is provided with a plurality of sensors; the calibration method of the sensor comprises the following steps: for each movement of the moving object, measurement data generated by each sensor isacquired, the acquired starting moment is the moment when the moving object is in a static state before the movement or the starting moment of the movement, and the acquired ending moment is the moment when the moving object stops the movement for a preset duration; a rotation relational expression of each sensor is determined according to the measurement data of each sensor obtained by each motion; and according to the rotation relation of each sensor, a conversion relation between respective coordinate systems of any two sensors is calibrated. By adopting the embodiment, the accuracy of sensor calibration can be improved.

Description

technical field [0001] Embodiments of the present invention relate to the field of unmanned driving and / or robots, and in particular to a sensor calibration method, a moving object and a storage medium. Background technique [0002] Environmental perception technology is one of the most critical technologies in the field of unmanned driving and robotics, that is, the information of the real environment can be obtained by processing the data obtained from sensors. Multi-line laser radar and inertial measurement unit (IMU) are two commonly used sensors. Multi-line laser radar can measure the appearance characteristics of the real environment, but in the case of inconspicuous appearance characteristics (such as open environment) , long corridors) cannot work well; the IMU can measure its own motion quickly and at high frequency, but the error will accumulate rapidly over time. Both sensors have their own limitations, but they can complement each other very well: use the IMU to...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01S7/497
CPCG01C25/005G01S7/497
Inventor 侍世腾
Owner CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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