Rapid calibration and correction method for multiple laser radars of intelligent vehicle

Abstract

The invention discloses a calibration and correction method, and particularly relates to a quick calibration and correction method for multiple laser radars of an intelligent vehicle, which comprises the following steps: Step 1, setting a main-auxiliary relationship of the multiple laser radars, including a main laser radar and a plurality of auxiliary laser radars; 2, initial pose parameters between the auxiliary laser radars to be calibrated and the main laser radar are measured; 3, determining an initial translation relation and a rotation relation of each auxiliary laser radar coordinate system under the main laser radar coordinate system so as to provide an initial value of point cloud registration; step 4, calibration is carried out; 5, input main and auxiliary laser point cloud filtering parameters are set, and sparse processing is carried out on the input point cloud; and step 6, setting a point cloud transformation threshold value. The method is high in site adaptability, and a fixed site is not needed; the calibration method does not need a too accurate initial value; online calibration and offline calibration can be realized; the calibration process is high in speed and only needs several seconds; parameter correction after calibration can be realized, and more accurate calibration parameters can be obtained.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a rapid calibration and correction method for multiple laser radars of intelligent vehicles. Background technique [0002] In the fields of intelligent driving and intelligent robots, lidar plays an important role, and can provide intelligence with mapping and positioning, obstacle recognition, tracking and prediction. As an active ranging instrument, laser radar emits laser light, and the receiver receives the returned laser light. According to the time difference, the distance between the obstacle area or the environmental building and the center of the laser radar is calculated, and the three-dimensional structure information of the surrounding environment can be obtained in real time. , is an indispensable device for intelligent driving and intelligent robots. [0003] Installing a single lidar on a smart vehicle sometimes cannot meet the needs of mapping and blind...

AI Technical Summary

Problems solved by technology

[0003] Installing a single lidar on a smart vehicle sometimes cannot meet the needs of mapping and blind spot monitoring. Therefore, it is necessary to appropriately increase the number of lidars according to specific models and usage scenarios to achieve the purpose of increasing the visual range

In actual use, the ranging data of the lidar is based on the data in the lidar coordinate system. When multiple lidars work together, if the coordinate relationship of each lidar cannot be accurately known, then the multi-lidar will not be able to perform Data Fusion Processing

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