CN111060898B - 场端多线束激光雷达内参标定方法 - Google Patents
场端多线束激光雷达内参标定方法 Download PDFInfo
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- CN111060898B CN111060898B CN201911327633.2A CN201911327633A CN111060898B CN 111060898 B CN111060898 B CN 111060898B CN 201911327633 A CN201911327633 A CN 201911327633A CN 111060898 B CN111060898 B CN 111060898B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000005457 optimization Methods 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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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
-
- 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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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
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Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
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CN112017248B (zh) * | 2020-08-13 | 2022-04-01 | 河海大学常州校区 | 一种基于点线特征的2d激光雷达相机多帧单步标定方法 |
CN114384496B (zh) * | 2020-10-22 | 2023-03-21 | 北京一径科技有限公司 | 激光雷达角度的标定方法和*** |
CN112180348B (zh) * | 2020-11-27 | 2021-03-02 | 深兰人工智能(深圳)有限公司 | 车载多线激光雷达的姿态标定方法和装置 |
CN113109791B (zh) * | 2021-03-15 | 2022-11-22 | 上海交通大学 | 一种车载激光雷达标定结果评价***及方法 |
CN113534110B (zh) * | 2021-06-24 | 2023-11-24 | 香港理工大学深圳研究院 | 一种多激光雷达***静态标定方法 |
CN117523105B (zh) * | 2023-11-24 | 2024-05-28 | 哈工大郑州研究院 | 激光雷达和多相机数据融合的三维场景重建方法 |
Citations (5)
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---|---|---|---|---|
CN104656097A (zh) * | 2015-01-28 | 2015-05-27 | 武汉理工大学 | 基于旋转式二维激光三维重构***的标定装置及方法 |
CN107167790A (zh) * | 2017-05-24 | 2017-09-15 | 北京控制工程研究所 | 一种基于标定场的激光雷达两步标定方法 |
CN109100707A (zh) * | 2018-08-21 | 2018-12-28 | 百度在线网络技术(北京)有限公司 | 雷达传感器的标定方法、装置、设备及存储介质 |
WO2019135869A1 (en) * | 2018-01-08 | 2019-07-11 | Uber Technologies, Inc. | Lidar intensity calibration |
CN110007293A (zh) * | 2019-04-24 | 2019-07-12 | 禾多科技(北京)有限公司 | 场端多线束激光雷达的在线标定方法 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN101698303B (zh) * | 2009-09-11 | 2011-02-02 | 大连理工大学 | 一种三维激光和单目视觉间的自动标定方法 |
CN106228537A (zh) * | 2016-07-12 | 2016-12-14 | 北京理工大学 | 一种三维激光雷达与单目摄像机的联合标定方法 |
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Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104656097A (zh) * | 2015-01-28 | 2015-05-27 | 武汉理工大学 | 基于旋转式二维激光三维重构***的标定装置及方法 |
CN107167790A (zh) * | 2017-05-24 | 2017-09-15 | 北京控制工程研究所 | 一种基于标定场的激光雷达两步标定方法 |
WO2019135869A1 (en) * | 2018-01-08 | 2019-07-11 | Uber Technologies, Inc. | Lidar intensity calibration |
CN109100707A (zh) * | 2018-08-21 | 2018-12-28 | 百度在线网络技术(北京)有限公司 | 雷达传感器的标定方法、装置、设备及存储介质 |
CN110007293A (zh) * | 2019-04-24 | 2019-07-12 | 禾多科技(北京)有限公司 | 场端多线束激光雷达的在线标定方法 |
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Address after: 201, 202, 301, No. 56-4 Fenghuang South Road, Huadu District, Guangzhou City, Guangdong Province, 510806 Patentee after: Heduo Technology (Guangzhou) Co.,Ltd. Address before: 100089 101-15, 3rd floor, building 9, yard 55, zique Road, Haidian District, Beijing Patentee before: HOLOMATIC TECHNOLOGY (BEIJING) Co.,Ltd. |
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Denomination of invention: Internal parameter calibration method for field end multi bundle LiDAR Granted publication date: 20210723 Pledgee: Bank of Shanghai Co.,Ltd. Beijing Branch Pledgor: Heduo Technology (Guangzhou) Co.,Ltd. Registration number: Y2024980009891 |