CN110333503A - Laser radar calibration method and device and electronic equipment - Google Patents
Laser radar calibration method and device and electronic equipment Download PDFInfo
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- CN110333503A CN110333503A CN201910458039.0A CN201910458039A CN110333503A CN 110333503 A CN110333503 A CN 110333503A CN 201910458039 A CN201910458039 A CN 201910458039A CN 110333503 A CN110333503 A CN 110333503A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The embodiment of the invention provides a laser radar calibration method, a laser radar calibration device and electronic equipment, wherein the method comprises the following steps: acquiring first point cloud data and second point cloud data which are obtained by respectively measuring the jig by a first laser radar and a second laser radar; respectively fitting a plurality of first reference planes and second reference planes of the jig according to the first point cloud data and the second point cloud data; and determining the position calibration relation of the first laser radar relative to the rotation and/or translation of the second laser radar according to the distances from a plurality of points on the first reference plane to the corresponding second reference plane. According to the embodiment of the invention, the relative position relationship of the two laser radars is calibrated by using the jig with a plurality of planes, and the relative position relationship is determined according to the distance from the point on the plane measured by one laser radar to the plane measured by the other laser radar, so that the static calibration of the laser radars is realized, and the calibration convenience is improved.
Description
Technical field
This application involves a kind of scaling method of laser radar, device and electronic equipments, belong to field of computer technology.
Background technique
Laser radar as a kind of distance measuring equipment, can with the distance of object in real-time measurement environment to laser itself,
It is the indispensable sensor in unmanned field.In view of in more and more equipment or system, multiple positions can be used simultaneously
Relatively-stationary laser radar is set, and each laser radar has respective coordinate system, i.e., position measured by each laser radar
Setting data is the coordinate system based on its own.In order to which the position data of multiple laser radars is carried out unification, it is necessary to
Relative positional relationship between each laser radar is demarcated, so as to comprehensively utilize the measurement number of multiple laser radars
According to.Be directed to the calibration of laser radar in the prior art, it is general using dynamic calibration mode, that is, need mobile laser radar or
The object of reference of calibration, such mode are extremely inconvenient for the calibration processing of laser radar.
Summary of the invention
The embodiment of the present invention provides the scaling method, device and electronic equipment of a kind of laser radar, to realize to laser thunder
Up to progress static demarcating.
To achieve the goals above, the embodiment of the invention provides a kind of scaling methods of laser radar, comprising:
Obtain the first point cloud data that first laser radar and second laser radar are measured from jig respectively
With the second point cloud data；
According to the first point cloud data and the second point cloud data fit respectively the jig multiple first reference planes and
Second reference planes；
According to the distance of multiple points in multiple first reference planes to corresponding second reference planes, determine described in
Location position relationship rotationally and/or translationally of the first laser radar relative to second laser radar.
The embodiment of the invention also provides a kind of caliberating devices of laser radar, comprising:
Point cloud data obtains module, is measured respectively for obtaining first laser radar and second laser radar jig
Obtained from the first point cloud data and the second point cloud data；
Plane fitting module, for fitting the more of the jig respectively according to the first point cloud data and the second point cloud data
A first reference planes and the second reference planes；
Location position relationship processing module, for according to multiple points in multiple first reference planes to corresponding
The distance of two reference planes determines position rotationally and/or translationally of the first laser radar relative to second laser radar
Calibration relationship.
The embodiment of the invention also provides a kind of electronic equipment, comprising:
Memory, for storing program；
Processor, for running the described program stored in the memory, to execute the calibration of laser radar above-mentioned
Method.
In the embodiment of the present invention, the mark of the relative positional relationship of two laser radars is carried out using the jig for there are multiple planes
Fixed, the distance for the plane that the point in the plane measured according to one of laser radar is measured to another laser radar is come true
Determine relative positional relationship, to realize the static demarcating to laser radar, improves the convenience of calibration.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
Fig. 1 is the flow diagram of the scaling method of the laser radar of the embodiment of the present invention of inventive embodiments；
Fig. 2 is the application scenarios schematic diagram of the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the caliberating device of the laser radar of the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of the electronic equipment of the embodiment of the present invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Below by some specific embodiment to further illustrate the technical scheme of the present inventions.
In inventive embodiments, the calibration processing of laser radar seeks to obtain the opposite rotation between each laser radar
The relative positional relationship for turning and/or translating, to carry out the mutual conversion of position data measured by each laser radar.
It is directed to the calibration of laser radar in the prior art, general using dynamic calibration mode, this mode needs to move
Laser radar or calibrated reference, such mode are extremely inconvenient for the calibration processing of laser radar.Implement in the present invention
In example, a kind of calibration mode of static state is proposed, the object of reference of mobile laser radar or calibration is not needed, completes in the quiescent state
The calibration of the relative position of laser radar.
The static demarcating between two laser radars may be implemented in the scaling method of the laser radar of the embodiment of the present invention,
Calibrate relative positional relationship rotationally and/or translationally of one of laser radar relative to another laser radar.For
Convenient for description, one of laser radar as position reference is referred to as second laser radar, and by another laser thunder
Up to referred to as first laser radar.It should be noted that in the calibration processing for two laser radars, it can be with any one
Laser radar is as second laser radar or first laser radar.
Embodiment one
As shown in Figure 1, its process signal for the scaling method of the laser radar of the embodiment of the present invention of inventive embodiments
Figure, the scaling method of laser radar specifically include that
S101: first cloud that first laser radar and second laser radar are measured from jig respectively is obtained
Data and the second point cloud data.Wherein, here the first point cloud data and the second point cloud data is with first laser radar and
On the basis of the respective coordinate system of dual-laser radar.Jig mentioned here is used as calibrated reference, and jig can
To include multiple planes, to form multiple calibration measuring basis.For wishing that the rotation for calibrating two laser radars is peaceful
The situation of the positional relationship of shifting, jig may include at least three and be in predetermined angle, and predetermined angle is preferably mutually hung down
Directly.In addition, jig can surround first laser radar and second laser radar arrays using multiple, thus from multiple angles and
Direction provides the measurement data for calibration, so that the calibration between laser radar can preferably fit the measurement of all directions
With.
S102: according to the first point cloud data and the second point cloud data fit respectively jig multiple first reference planes and
Second reference planes.Specifically, the first reference planes and the second reference planes can be gone out according to a large amount of Points cloud Fitting
Plane equation.
S103: according to the distance of multiple points in multiple first reference planes to corresponding second reference planes, is determined
Location position relationship rotationally and/or translationally of one laser radar relative to second laser radar.Mentioned here corresponding
Two reference planes refer to the reference planes that the approximately the same plane for jig measures and fits.First laser radar is to controlling
The second reference planes that multiple points measured by some plane of tool and second laser radar fit after measuring same plane,
Actually should be in the same plane, only because the difference of coordinate system and there is difference numerically and therefore pass through calculating
The distance of multiple points in first reference planes to corresponding second reference planes, so that it may get the phase between laser radar
To positional relationship.
Further, in order to enable the relative positional relationship between two laser radars demarcates more accurate, the step
It can specifically include:
S1031: calculate multiple points in multiple first reference planes to corresponding multiple second reference planes distance；
S1032: utilizing iteration optimization algorithms, determines the rotation translation square of first laser radar and second laser radar
Battle array, so that the sum of the distance of multiple points to corresponding second reference planes in multiple first reference planes is minimum.In the distance
The sum of in the smallest situation, illustrate the deviation of the relative position calibration in all directions and for angle, between two coordinate systems
Minimum, so as to obtain more accurate calibration result.
The processing method that relative position calibration is carried out for two laser radars is described above, in fact, based on above-mentioned
Method can demarcate multiple laser radars, and principle is also by the calibration between multiple laser radars according to demarcating two-by-two
It is handled.Specifically, the above method can also include the calibration processing for the third laser radar other than above-mentioned two:
Obtain the third point cloud data that third laser radar is measured from jig respectively；
Multiple third reference planes of jig are fitted according to third point cloud data；
According to multiple points in multiple third reference planes to the distance of corresponding second reference planes, third laser is determined
Location position relationship rotationally and/or translationally of the radar relative to second laser radar.
The above-mentioned calibration processing for third laser radar is referred to the calibration processing above for first laser radar,
Its principle is identical.Above-mentioned example is all the calibration processing using second laser radar as benchmark, thus by multiple laser thunders
The nominal data reached carries out the unification of coordinate system.It certainly, can also be in the calibration processing for third laser radar
The first laser radar demarcated carries out calibration processing as benchmark, is then based on first laser radar and second laser thunder again
Calibration relationship between reaching, to calculate as the nominal data using second laser radar as benchmark.
Embodiments of the present invention are further illustrated with actual application example below.
As shown in Fig. 2, it is the application scenarios schematic diagram of the embodiment of the present invention.Scene as shown in the figure comprising four
The laser radar 5 and 6 that jig (jig 1 to 4) and two relative positions are fixed, two laser radars to be calibrated are substantially put
It is placed in the center position of four jigs, each jig includes three orthogonal planes, and four jigs form 12 in total
A plane.In application scenarios shown in Fig. 2, using laser radar 5 as the benchmark of calibration, it is desirable to calculate 6 phase of laser radar
For the relative positional relationship of laser radar 5.I.e. laser radar 5 corresponds to above-mentioned second laser radar, and laser radar 6 is corresponding
In above-mentioned first laser radar.
As shown in the figure, two laser radars 5 and 6 are placed in position as shown in the figure, two laser radars 5 and 6 respectively to
Surrounding issues laser and detects to ambient enviroment, and acquires point cloud data.
In the point cloud data of laser radar 5, the point cloud data of three planes of each jig is extracted, and fits plane
Equation, scene as shown in Figure 2 can fit 12 planes for four jigs in total.
In the point cloud data of laser radar 6,3 planes of each jig are extracted, and fit plane equation, similarly,
12 planes can also be extracted, and obtain the point in this 12 planes.
Calculate the corresponding flat into the point cloud data of laser radar 5 of the point in the point cloud data of laser radar 6 in plane
Distance uses dist hereiIt indicates, i therein represents the number of point, and calculates calculated all sum of the distance, uses sum here
(disti) indicate.
Whole sum of the distance sum (disti) can become with the variation of the rotation translation relation between laser radar 5 and 6
Change.Therefore, the method for using iteration optimization finds a rotation translation relation and makes sum (disti) minimum.The calculation processing can
To be described as following formula:
(r, t)=Arg Min Sum (disti) ... ... ... ... ... ... formula (1)
In the formula, r is three-dimensional rotating vector, and t is three-dimensional translation vector, and the combination of r and t represent laser radar 5
And the rotation translation relation between 6, the meaning of Arg Min are to make subsequent Sum (disti) functional value minimum when it is defeated
Out, that is, Sum (dist is acquiredi) it is minimum when (r, t).As previously described, distiTo be put down in the point cloud data of laser radar 6
The distance of point corresponding flat into the point cloud data of laser radar 5 on face, then (r, the t) expression accordingly acquired is laser
The rotation translation relation of radar 6 to laser radar 5 can be sat laser radar 6 by (r, t) that is, on the basis of laser radar 5
Coordinate value in mark system is converted to the coordinate value in 5 coordinate system of laser radar, should obtain in (r, t) namely embodiment of the present invention
The location position relationship of two laser radars obtained.(r, t) can also be expressed as the form of rotational translation matrix.
In addition, the point in the point cloud data of above-mentioned laser radar 6 in plane is corresponding into the point cloud data of laser radar 5
The distance of plane can be calculated using following formula:
Wherein, (xi,yi,zi) it is point coordinate in the point cloud data of laser radar 6 in plane, AkX+BkY+CkZ+Dk=0
Corresponding plane equation in point cloud data for laser radar 6, X, Y, Z in formula indicate the three-dimensional in the plane equation fitted
Point coordinate variable.
In the embodiment of the present invention, the mark of the relative positional relationship of two laser radars is carried out using the jig for there are multiple planes
Fixed, the distance for the plane that the point in the plane measured according to one of laser radar is measured to another laser radar is come true
Determine relative positional relationship, to realize the static demarcating to laser radar, improves the convenience of calibration.In addition, by adopting
The acquisition of multiple directions and point cloud data is carried out with multiple jigs, and in the way of iteration optimization, find a rotation translation
Matrix so that multiple points in multiple planes that one of laser radar measures measured to another laser radar it is corresponding
The sum of the distance of multiple planes is minimum, so as to the rotation that is more accurate and better adapting to multiple directions measurement of acquisition
Translation matrix.
Embodiment two
As shown in figure 3, its structural schematic diagram for the caliberating device of the laser radar of the embodiment of the present invention, the device include
Point cloud data obtains module 11, plane fitting module 12 and location position relationship processing module 13.
Point cloud data obtains module 11, is surveyed respectively for obtaining first laser radar and second laser radar to jig
First point cloud data and the second point cloud data obtained from amount.Wherein, jig is multiple, is swashed around first laser radar and second
Optical radar arrangement.
Plane fitting module 12, for fitting the multiple of jig respectively according to the first point cloud data and the second point cloud data
First reference planes and the second reference planes.
Location position relationship processing module 13, for according to multiple points in multiple first reference planes to corresponding second
The distance of reference planes determines that first laser radar is closed relative to the location position rotationally and/or translationally of second laser radar
System.
Wherein, above-mentioned jig includes at least three planes for being in predetermined angle, in location position Automated generalization mould
Processing in block 13 can specifically include: calculate multiple points in multiple first reference planes to corresponding multiple second with reference to flat
The distance in face；Using iteration optimization algorithms, the rotational translation matrix of first laser radar and second laser radar is determined, so that
The sum of the distance of multiple points to corresponding second reference planes in multiple first reference planes is minimum.
Wherein, the distance for calculating multiple points in multiple first reference planes to corresponding multiple second reference planes can be with
Include: the plane equation of the coordinate according to multiple points and corresponding second reference planes fitted, calculates multiple o'clock to second
The distance of reference planes.Specifically above-mentioned formula (2) can be referred to apart from calculation.
Embodiment three
Preceding embodiment describes the flow processing of the scaling method of laser radar and the structure of caliberating device, above-mentioned side
Method and the function of device can be realized by a kind of electronic equipment to be completed, as shown in figure 4, it is the electronic equipment of the embodiment of the present invention
Structural schematic diagram, specifically include: memory 110 and processor 120.
Memory 110, for storing program.
In addition to above procedure, memory 110 is also configured to store various other data to support in electronic equipment
On operation.The example of these data includes the instruction of any application or method for operating on an electronic device, connection
It is personal data, telephone book data, message, picture, video etc..
Memory 110 can realize by any kind of volatibility or non-volatile memory device or their combination,
Such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable is read-only
Memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, disk
Or CD.
Processor 120 is coupled to memory 110, for executing the program in memory 110, to execute previous embodiment
Described in laser radar scaling method operating procedure.
In addition, processor 120 also may include various modules described in previous embodiment to execute laser radar calibration
Processing, and memory 110 can for example be used to store these modules execute operate required for data and/or exported
Data.
Above-mentioned treatment process is illustrated, technical principle is described in detail and technical effect detailed analysis is real in front
It applies in example and is described in detail, details are not described herein.
Further, as shown, electronic equipment can also include: communication component 130, power supply module 140, audio component
150, other components such as display 160.Members are only schematically provided in figure, are not meant to that electronic equipment only includes in figure
Shown component.
Communication component 130 is configured to facilitate the communication of wired or wireless way between electronic equipment and other equipment.Electricity
Sub- equipment can access the wireless network based on communication standard, such as WiFi, 2G or 3G or their combination.It is exemplary at one
In embodiment, communication component 130 receives broadcast singal or broadcast correlation from external broadcasting management system via broadcast channel
Information.In one exemplary embodiment, communication component 130 further includes near-field communication (NFC) module, to promote short range communication.
For example, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) skill can be based in NFC module
Art, bluetooth (BT) technology and other technologies are realized.
Power supply module 140 provides electric power for the various assemblies of electronic equipment.Power supply module 140 may include power management
System, one or more power supplys and other with for electronic equipment generate, manage, and distribute the associated component of electric power.
Audio component 150 is configured as output and/or input audio signal.For example, audio component 150 includes a Mike
Wind (MIC), when electronic equipment is in operation mode, when such as call mode, recording mode, and voice recognition mode, microphone is matched
It is set to reception external audio signal.The received audio signal can be further stored in memory 110 or via communication set
Part 130 is sent.In some embodiments, audio component 150 further includes a loudspeaker, is used for output audio signal.
Display 160 includes screen, and screen may include liquid crystal display (LCD) and touch panel (TP).If screen
Curtain includes touch panel, and screen may be implemented as touch screen, to receive input signal from the user.Touch panel includes one
A or multiple touch sensors are to sense the gesture on touch, slide, and touch panel.Touch sensor can not only sense touching
It touches or the boundary of sliding action, but also detects duration and pressure relevant with touch or slide.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of scaling method of laser radar, comprising:
Obtain the first point cloud data that first laser radar and second laser radar are measured from jig respectively and the
Two point cloud datas；
Fit multiple first reference planes and second of the jig respectively according to the first point cloud data and the second point cloud data
Reference planes；
According to multiple points in multiple first reference planes to the distance of corresponding second reference planes, described first is determined
Location position relationship rotationally and/or translationally of the laser radar relative to second laser radar.
2. according to the method described in claim 1, wherein, the jig includes at least three planes for being in predetermined angle,
According to multiple points in first reference planes to the distance of corresponding second reference planes, the first laser is determined
Radar includes: relative to the location position relationship rotationally and/or translationally of second laser radar
Calculate multiple points in multiple first reference planes to corresponding multiple second reference planes distance；
Using iteration optimization algorithms, the rotational translation matrix of first laser radar and second laser radar is determined, so that multiple
The sum of the distance of multiple points to corresponding second reference planes in first reference planes is minimum.
3. according to the method described in claim 2, wherein, multiple points in multiple first reference planes are calculated to corresponding
The distance of multiple second reference planes includes:
According to the plane equation of the coordinate of the multiple point and corresponding second reference planes fitted, calculate described more
Distance of a point to second reference planes.
4. according to the method described in claim 1, wherein, the jig be it is multiple, around the first laser radar and described
Second laser radar arrays.
5. according to the method described in claim 1, wherein, further includes:
Obtain the third point cloud data that third laser radar is measured from jig respectively；
Multiple third reference planes of the jig are fitted according to the third point cloud data；
According to multiple points in multiple third reference planes to the distance of corresponding second reference planes, the third is determined
Location position relationship rotationally and/or translationally of the laser radar relative to second laser radar.
6. a kind of caliberating device of laser radar, comprising:
Point cloud data obtains module, is measured from respectively for obtaining first laser radar and second laser radar to jig
The first point cloud data and the second point cloud data arrived；
Plane fitting module, for fitting multiple the of the jig respectively according to the first point cloud data and the second point cloud data
One reference planes and the second reference planes；
Location position relationship processing module, for according to multiple points in multiple first reference planes to corresponding second ginseng
The distance for examining plane determines location position rotationally and/or translationally of the first laser radar relative to second laser radar
Relationship.
7. device according to claim 6, wherein the jig includes at least three planes for being in predetermined angle,
According to multiple points in first reference planes to the distance of corresponding second reference planes, the first laser is determined
Radar includes: relative to the location position relationship rotationally and/or translationally of second laser radar
Calculate multiple points in multiple first reference planes to corresponding multiple second reference planes distance；
Using iteration optimization algorithms, the rotational translation matrix of first laser radar and second laser radar is determined, so that multiple
The sum of the distance of multiple points to corresponding second reference planes in first reference planes is minimum.
8. according to device described in right 7, wherein calculate multiple points in multiple first reference planes to corresponding multiple
The distance of second reference planes includes:
According to the plane equation of the coordinate of the multiple point and corresponding second reference planes fitted, calculate described more
Distance of a point to second reference planes.
9. device according to claim 6, wherein the jig be it is multiple, around the first laser radar and described
Second laser radar arrays.
10. a kind of electronic equipment, comprising:
Memory, for storing program；
Processor swashs for running the described program stored in the memory with perform claim requirement 1 to 5 is any described
The scaling method of optical radar.
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| CN116934832A (en) * | 2023-07-19 | 2023-10-24 | 齐鲁工业大学(山东省科学院) | Real-time calibration method of three-dimensional point cloud based on field reference object |
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