CN110573830B - 激光传感器的校准方法 - Google Patents
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- CN110573830B CN110573830B CN201780090131.5A CN201780090131A CN110573830B CN 110573830 B CN110573830 B CN 110573830B CN 201780090131 A CN201780090131 A CN 201780090131A CN 110573830 B CN110573830 B CN 110573830B
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Classifications
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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
- G01S7/4972—Alignment of sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- 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
- G01S7/4808—Evaluating distance, position or velocity data
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
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- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
Claims (88)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2017/082584 WO2018195986A1 (en) | 2017-04-28 | 2017-04-28 | Calibration of laser sensors |
Publications (2)
Publication Number | Publication Date |
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CN110573830A CN110573830A (zh) | 2019-12-13 |
CN110573830B true CN110573830B (zh) | 2022-03-22 |
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Application Number | Title | Priority Date | Filing Date |
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CN201780090131.5A Active CN110573830B (zh) | 2017-04-28 | 2017-04-28 | 激光传感器的校准方法 |
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US (3) | US10120068B1 (zh) |
EP (1) | EP3616159A4 (zh) |
CN (1) | CN110573830B (zh) |
WO (1) | WO2018195986A1 (zh) |
Families Citing this family (33)
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WO2018195986A1 (en) * | 2017-04-28 | 2018-11-01 | SZ DJI Technology Co., Ltd. | Calibration of laser sensors |
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CN109521403B (zh) * | 2017-09-19 | 2020-11-20 | 百度在线网络技术(北京)有限公司 | 多线激光雷达的参数标定方法及装置、设备及可读介质 |
DE102018110775A1 (de) * | 2018-05-04 | 2019-11-07 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Bestimmen einer Ausrichtung eines optoelektronischen Sensors mittels Abtastpunkten eines Sensorbildes sowie optoelektronischer Sensor |
JP6821712B2 (ja) * | 2018-06-25 | 2021-01-27 | ベイジン ディディ インフィニティ テクノロジー アンド ディベロップメント カンパニー リミティッド | 自然光景中での統合センサの較正 |
US11841437B2 (en) * | 2018-10-12 | 2023-12-12 | Baidu Usa Llc | Automatic lidar calibration based on pre-collected static reflection map for autonomous driving |
EP3869461B1 (en) * | 2018-10-18 | 2022-10-05 | Fujitsu Limited | Calculation method, calculation program, and information processing device |
CN109782258B (zh) * | 2018-12-26 | 2022-03-25 | 阿波罗智能技术(北京)有限公司 | 车辆激光雷达的位置检测方法、装置及存储介质 |
DK180562B1 (en) | 2019-01-31 | 2021-06-28 | Motional Ad Llc | Merging data from multiple lidar devices |
CN110386147B (zh) * | 2019-06-13 | 2020-09-01 | 北京百度网讯科技有限公司 | 应用于车辆的传感器的标定检测方法及装置 |
CN112208529B (zh) * | 2019-07-09 | 2022-08-02 | 毫末智行科技有限公司 | 用于目标检测的感知***、驾驶辅助方法和无人驾驶设备 |
WO2021024712A1 (ja) * | 2019-08-02 | 2021-02-11 | 日立オートモティブシステムズ株式会社 | エイミング装置、運転制御システム、及びセンサデータの補正量の計算方法 |
CN110500978B (zh) * | 2019-09-25 | 2021-05-25 | 上海交通大学 | 点激光传感器的光束方向矢量和零点位置在线标定方法 |
EP3825720B1 (en) * | 2019-11-19 | 2024-03-27 | Leica Geosystems AG | Laser scanner with calibration functionality |
RU2767949C2 (ru) | 2019-12-30 | 2022-03-22 | Общество с ограниченной ответственностью "Яндекс Беспилотные Технологии" | Способ (варианты) и система для калибровки нескольких лидарных датчиков |
CN111198496A (zh) * | 2020-01-03 | 2020-05-26 | 浙江大学 | 一种目标跟随机器人及跟随方法 |
US11360197B2 (en) * | 2020-01-07 | 2022-06-14 | Luminar, Llc | Calibration of sensor systems |
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CN111398984B (zh) * | 2020-03-22 | 2022-03-29 | 华南理工大学 | 基于扫地机器人的自适应激光雷达点云校正与定位方法 |
JP2021148746A (ja) * | 2020-03-23 | 2021-09-27 | 株式会社リコー | 測距装置及び測距方法 |
JP7192090B2 (ja) * | 2020-05-15 | 2022-12-19 | バイドゥドットコム タイムズ テクノロジー (ベイジン) カンパニー リミテッド | ポイントクラウド融合のための検出器 |
CN111754535B (zh) * | 2020-06-23 | 2024-05-31 | 自然资源部四川测绘产品质量监督检验站(四川省测绘产品质量监督检验站) | 一种机载激光点云重叠度检测方法及*** |
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CN113219489B (zh) * | 2021-05-13 | 2024-04-16 | 深圳数马电子技术有限公司 | 多线激光的点对确定方法、装置、计算机设备和存储介质 |
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CN113483661B (zh) * | 2021-07-06 | 2023-06-30 | 广东南方数码科技股份有限公司 | 一种点云数据获取方法、装置、设备及存储介质 |
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