CN112305521B - Double-laser-radar relative position calibration method, device, equipment and storage medium - Google Patents
Double-laser-radar relative position calibration method, device, equipment and storage medium Download PDFInfo
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- CN112305521B CN112305521B CN202011211125.0A CN202011211125A CN112305521B CN 112305521 B CN112305521 B CN 112305521B CN 202011211125 A CN202011211125 A CN 202011211125A CN 112305521 B CN112305521 B CN 112305521B
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Abstract
The embodiment of the invention discloses a method, a device, equipment and a storage medium for calibrating the relative position of a double-laser radar. The method for calibrating the relative position of the double laser radars comprises the following steps: acquiring a first scanning point set of a first laser radar on a preset scene and a second scanning point set of a second laser radar on the preset scene; determining a position conversion matrix according to the preset relative position of the second laser radar to the first laser radar; and determining the actual relative position of the second laser radar to the first laser radar according to the position conversion matrix, the first scanning point set and the second scanning point set. According to the embodiment of the invention, the scanning point sets of the preset scene are respectively obtained through the double laser radars, and the actual relative positions of the double laser radars are determined according to the position conversion matrix between the double laser radars and the obtained scanning point sets. The method and the device realize that more measurement data are used without depending on the overlapping area between the radars, reduce the influence of noise of the sensor and improve the precision of the final calibration result.
Description
Technical Field
The embodiment of the invention relates to the field of intelligent robots of the Internet of things, in particular to a method, a device, equipment and a storage medium for calibrating relative positions of double laser radars.
Background
With the development of science and technology, an Intelligent Guided Vehicle (IGV) system gradually becomes one of key technologies of a flexible production line and a modern storage system, and has the characteristics of high automation degree, safety, flexibility and the like, so that the IGV is widely applied to the fields of automatic production processes such as Intelligent manufacturing and logistics. The manufacturing enterprise has a strict requirement on the IGV, and because the IGV is required to be accurately butted with the machine table in the production process and faces the practical problems of large load, narrow operation space and the like, most IGVs on the market cannot meet the requirement, so that the positioning accuracy, the load capacity and the flexibility of the IGV are improved, and the IGV has a huge application value in a production line.
At present, an IGV system based on double laser radars needs to set two laser radars to realize IGV all-around scanning of the surrounding environment. However, due to the limitation of machining precision or installation precision, it is difficult to ensure that the relative positions of the two lidar wheels strictly meet the design requirements (for example, the two lidar wheels are placed at an angle of 45 degrees with respect to the diagonal), and these engineering errors directly affect the positioning precision of the IGV, so that the calibration of the relative positions of the two lidar wheels is very important.
The accuracy of the calculation based on the method of overlapping observation regions of a plurality of laser radars is limited by the range of the overlapping region. When the overlapping area is small or does not exist due to the difference of the design of the vehicle body and the layout of the radar, the existing scheme can only use a small part of data in the observation data for calculation, and the influence of the noise of the sensor on the obtained result is greatly increased.
Disclosure of Invention
The invention provides a method, a device, equipment and a storage medium for calibrating the relative position of double laser radars, which realize that more measurement data are used without depending on the superposition area between the radars, reduce the influence of noise of a sensor and improve the precision of a final calibration result.
In a first aspect, an embodiment of the present invention provides a method for calibrating a relative position of a dual laser radar, including:
acquiring a first scanning point set of a first laser radar on a preset scene and a second scanning point set of a second laser radar on the preset scene;
determining a position conversion matrix according to the preset relative position of the second laser radar to the first laser radar;
and determining the actual relative position of the second laser radar to the first laser radar according to the position conversion matrix, the first scanning point set and the second scanning point set.
In a second aspect, an embodiment of the present invention further provides a device for calibrating a relative position of a dual laser radar, including:
the scanning point set acquisition module is used for acquiring a first scanning point set of a first laser radar on a preset scene and a second scanning point set of a second laser radar on the preset scene;
the position conversion matrix determining module is used for determining a position conversion matrix according to the preset relative position of the second laser radar to the first laser radar;
and the actual relative position determining module is used for determining the actual relative position of the second laser radar to the first laser radar according to the position conversion matrix, the first scanning point set and the second scanning point set.
In a third aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a dual lidar relative position calibration method as provided by any of the embodiments of the invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the dual-lidar relative position calibration method provided in any embodiment of the present invention.
The method comprises the steps of acquiring a first scanning point set of a first laser radar on a preset scene and a second scanning point set of a second laser radar on the preset scene; determining a position conversion matrix according to the preset relative position of the second laser radar to the first laser radar; and determining the actual relative position of the second laser radar to the first laser radar according to the position conversion matrix, the first scanning point set and the second scanning point set. According to the embodiment of the invention, the actual relative positions of the double laser radars are determined according to the position conversion matrix between the double laser radars, the first scanning point set and the second scanning point set through the first scanning point set and the second scanning point set of the preset scene respectively acquired by the double laser radars. The method solves the problem that in the prior art, only a small part of data in observation data can be used for calculation, and the influence of sensor noise on the obtained result is greatly increased, realizes that the influence of the sensor noise is reduced and the precision of the final calibration result is improved without depending on the coincidence area between radars and using more measurement data.
Drawings
Fig. 1 is a flowchart of a method for calibrating a relative position of a dual laser radar according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for calibrating a relative position of a dual laser radar according to a second embodiment of the present invention;
fig. 3 is a flowchart of a method for calibrating a relative position of a dual laser radar according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a dual laser radar relative position calibration apparatus according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of an apparatus according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a method for calibrating relative positions of two laser radars according to an embodiment of the present invention, where this embodiment is applicable to calibrating relative positions of two opposing laser radars in a small overlapping area, and the method may be executed by a device for calibrating relative positions of two laser radars according to an embodiment of the present invention, as shown in fig. 1, and specifically includes the following steps:
s110, a first scanning point set of the first laser radar to the preset scene and a second scanning point set of the second laser radar to the preset scene are obtained.
The laser radar comprises a single-beam narrow-band laser transmitter and a receiving system. The laser transmitter sends out laser pulse waves, when the laser waves are emitted to the surface of an object, part of energy returns, and when the laser receiver receives the returned laser waves and the returned energy is enough to trigger a threshold value, the laser scanner calculates the distance value between the laser scanner and the object; the laser scanner continuously emits laser pulse waves, which impinge on a mirror rotating at high speed, and the laser pulse waves are emitted in various directions to form a two-dimensional area scan. Within the scanning range of the scanner, the scanner outputs the distance of each measuring point, and according to the distance information, the outline, coordinate positioning and the like of the object can be calculated.
The preset scene is in a geometric shape. The preset scene may be a physical environment with a distinct geometry, such as a room with walls around it.
The first scanning point set refers to point clouds of a preset scene obtained through scanning of a first laser radar, and the second scanning point set refers to point clouds of the preset scene obtained through scanning of a second laser radar. Each point of the point cloud includes coordinate information and intensity information, and in this embodiment, only the acquired scanning point set is described, but not limited.
The first and second lidar are mounted to the IGV, respectively. Preferably, first laser radar is placed at the upper right corner of the vehicle head by 45 degrees, second laser radar is placed at the lower left corner of the vehicle tail by 45 degrees, and two laser radar working areas are within the range of 270 degrees. In the present embodiment, the specific installation positions of the first laser radar and the second laser radar are only illustrated, but not limited.
Specifically, an initial angle is set for the IGV trolley, and under the condition of the initial angle, the first laser radar and the second laser radar respectively scan the preset environment to acquire initial scanning measurement data of the first laser radar and initial scanning measurement data of the second laser radar.
Further, taking the example that the rotation mode is clockwise rotation by 4 degrees, and the two laser radar working areas are both 270 degrees, the IGV vehicle body is clockwise rotation by 4 degrees, and the first laser radar and the second laser radar respectively scan the preset environment to obtain the scanning measurement data of the first laser radar and the scanning measurement data of the second laser radar at the current angle. And combining the scanning measurement data of the first laser radar at the current angle to the initial scanning measurement data of the first laser radar through an Iterative Closest Point (ICP) algorithm, and combining the scanning measurement data of the second laser radar at the current angle to the initial scanning measurement data of the second laser radar.
In the present embodiment, the rotation of the IGV body by an angle of 4 ° clockwise is for illustration, and the rotation method and the rotation angle are not limited.
Further, the IGV body continues to rotate clockwise through an angle of 4 ° until the IGV rotates 90 °. And merging the scanning measurement data of the first laser radar and the scanning measurement data of the second laser radar after each rotation to the scanning measurement data of the first laser radar and the scanning measurement data of the second laser radar before rotation through an ICP (inductively coupled plasma) algorithm respectively to obtain a first scanning point set and a second scanning point set.
It should be noted that the working area of the laser radar selected in this embodiment is 270 °, so theoretically, all the scanning point sets of the preset scene would be obtained by rotating the IGV by 90 °. Typically, the IGV is rotated 360 to acquire more scan data to improve calibration accuracy.
And S120, determining a position conversion matrix according to the preset relative position of the second laser radar to the first laser radar.
The preset relative position refers to a theoretical relative position of the first laser radar and the second laser radar which are arranged at the diagonal positions of the IGV in the manufacturing and mounting process.
Wherein the position transformation matrix is a transformation matrix of a theoretical relative position transformation of the second lidar with respect to the first lidar. The translation matrix contains the rotational translation of the relative position transform.
Specifically, a preset position of the first laser radar is used as a reference point, a rotation matrix and a translation vector of the second radar relative to the preset position of the first laser are calculated, and a position conversion matrix is calculated according to the rotation matrix and the translation vector.
And S130, determining the actual relative position of the second laser radar to the first laser radar according to the position conversion matrix, the first scanning point set and the second scanning point set.
Wherein, the actual relative position refers to the relative position of the second laser radar to the first laser radar obtained through actual measurement. The preset relative position may be deviated due to the influence of the mounting process, compared to the actual relative position.
Specifically, according to the position conversion matrix, a second scanning point set of the second laser radar is converted into a coordinate system where the first laser radar is located, so that a scanning point set of the second laser radar to a preset scene in the coordinate system where the first laser radar is located is obtained, and the scanning point set is represented by a third scanning point set in order to be distinguished from the first scanning point set and the second scanning point set. And calculating a rotation matrix and a translation vector of a first scanning point set of the first laser radar to the preset scene and a third scanning point set of the second laser radar to the preset scene under a coordinate system of the first laser radar through an ICP (inductively coupled plasma) algorithm to obtain a calibration conversion matrix. And multiplying the calibration conversion matrix and the position conversion matrix to obtain the actual relative position of the second laser radar to the first laser radar.
The method comprises the steps of acquiring a first scanning point set of a first laser radar on a preset scene and a second scanning point set of a second laser radar on the preset scene; determining a position conversion matrix according to the preset relative position of the second laser radar to the first laser radar; and determining the actual relative position of the second laser radar to the first laser radar according to the position conversion matrix, the first scanning point set and the second scanning point set. According to the embodiment of the invention, the actual relative positions of the double laser radars are determined according to the position conversion matrix between the double laser radars, the first scanning point set and the second scanning point set through the first scanning point set and the second scanning point set of the preset scene respectively acquired by the double laser radars. The method solves the problem that in the prior art, only a small part of data in observation data can be used for calculation, and the influence of sensor noise on the obtained result is greatly increased, realizes that the influence of the sensor noise is reduced and the precision of the final calibration result is improved without depending on the coincidence area between radars and using more measurement data.
Example two
Fig. 2 is a flowchart of a method for calibrating relative positions of two laser radars according to a second embodiment of the present invention, where this embodiment is applicable to calibrating relative positions of two opposing laser radars in a small overlapping area, and the method for calibrating relative positions of two laser radars is further optimized in this embodiment, and reference may be made to any of the above embodiments for technical details not described in detail in this embodiment. As shown in fig. 2, the optimized method for calibrating the relative position of the dual laser radar mainly includes the following steps:
s210, under the condition that the intelligent guided vehicle IGV is at the initial angle, first initial scanning measurement data of the first laser radar and second initial scanning measurement data of the second laser radar are obtained.
Where the initial angle refers to the angle of the IGV body prior to scanning the measurement data. The current angle of the vehicle body at any angle can be set as the initial angle, and the subsequent rotation is carried out relative to the current angle. That is, the initial angle is not strictly how many degrees, but is a relative angle.
The first initial scanning measurement data refers to scanning measurement data of a preset scene acquired by a first laser radar at an initial angle; the second initial scanning measurement data refers to scanning measurement data of a preset scene acquired by the second laser radar at an initial angle.
Specifically, the IGV is placed in a preset environment, any angle where the IGV body is located is selected as an initial angle, the first laser radar and the second laser radar respectively scan the preset environment, and first initial scanning measurement data and second initial scanning measurement data are obtained.
S220, under the condition that the IGV rotates for a first angle, acquiring first-angle first scanning measurement data of a first laser radar and first-angle second scanning measurement data of a second laser radar, combining the first-angle first scanning measurement data and first initial scanning measurement data through a preset algorithm, combining the first-angle second scanning measurement data and the second initial scanning measurement data through the preset algorithm until the scanning ranges of the first laser radar and the second laser radar respectively cover 360-degree preset scenes, combining all the first-angle scanning measurement data to the first initial scanning measurement data through the preset algorithm to obtain a first scanning point set, and combining all the second scanning measurement data to the second initial scanning measurement data through the preset algorithm to obtain a second scanning point set.
Wherein the first angle refers to the degree of deflection of the IGV vehicle relative to the initial angle. All angles refer to angles which are generated in the process that the IGV trolley rotates at a certain rotation angle every time relative to the initial angle until the two laser radar scanning ranges respectively cover the preset scene of 360 degrees. The double laser radars are arranged on the IGV trolley body, and the angle of the IGV trolley is equivalent to that of the double laser radars. The preset algorithm refers to the ICP algorithm.
The first scanning measurement data refers to scanning measurement data of a preset scene acquired by a first laser radar; the second scanning measurement data refers to scanning measurement data of a preset scene acquired by the second laser radar.
Specifically, the IGV trolley rotates clockwise by an angle of 4 ° every time, and the two laser radar working areas are both in a range of 270 °. And after the IGV trolley rotates clockwise by 4 degrees relative to the initial angle, the first laser radar scans the preset environment to acquire first scanning measurement data under the angle of 4 degrees, and the second laser radar scans the preset environment to acquire second scanning measurement data under the angle of 4 degrees. And combining the first scanning measurement data and the first initial scanning measurement data under the angle of 4 degrees acquired by the first laser radar and combining the second scanning measurement data and the second initial scanning measurement data under the angle of 4 degrees acquired by the second laser radar through an ICP algorithm.
Further, the IGV cart continues to rotate clockwise through an angle of 4 and clockwise through an angle of 8 relative to the initial angle. The first laser radar scans the preset environment at the current angle to acquire first scanning measurement data under an angle of 8 degrees, and the second laser radar scans the preset environment at the current angle to acquire second scanning measurement data under the angle of 8 degrees. And combining the first scanning measurement data acquired under the angle of 8 degrees into the first initial scanning measurement data and combining the second scanning measurement data acquired under the angle of 8 degrees into the second initial scanning measurement data through an ICP (inductively coupled plasma) algorithm.
And further, the IGV trolley is continuously rotated by 4 degrees clockwise, after each rotation, the first laser radar scans the preset environment at the current angle to obtain first scanning measurement data, and the second laser radar scans the preset environment at the current angle to obtain second scanning measurement data. And combining the first scanning measurement data acquired at the current angle to the first initial scanning measurement data and combining the second scanning measurement data acquired at the current angle to the second initial scanning measurement data through an ICP (inductively coupled plasma) algorithm. And when the IGV trolley rotates clockwise by 90 degrees, acquiring a first scanning point set of the first laser radar on the preset scene, and acquiring a second scanning point set of the second laser radar on the preset scene.
And S230, determining a position conversion matrix according to the preset relative position of the second laser radar to the first laser radar.
And S240, determining the actual relative position of the second laser radar to the first laser radar according to the position conversion matrix, the first scanning point set and the second scanning point set.
According to the technical scheme provided by the second embodiment, the method for calibrating the relative position of the two laser radars is further optimized, the ICP algorithm is used for combining the scanning measurement data of the first laser radar and the second laser radar to the preset scene at different angles, the scanning point set of the first laser radar and the second laser radar to the preset scene is obtained, more measurement data are used, the influence of sensor noise can be reduced, and the precision of the final calibration result is improved.
EXAMPLE III
Fig. 3 is a flowchart of a method for calibrating relative positions of two laser radars according to a third embodiment of the present invention, where this embodiment is applicable to calibrating relative positions of two opposing laser radars in a small overlapping area, and the method for calibrating relative positions of two laser radars is further optimized in this embodiment, and reference may be made to any of the above embodiments for technical details not described in this embodiment in detail. As shown in fig. 3, the optimized method for calibrating the relative position of the dual laser radar mainly includes the following steps:
s310, a first scanning point set of the first laser radar to the preset scene and a second scanning point set of the second laser radar to the preset scene are obtained.
And S320, determining a position conversion matrix according to the preset relative position of the second laser radar to the first laser radar.
S330, determining a third scanning point set of the second laser radar to the preset scene under the first laser radar coordinate system based on the position conversion matrix and the second scanning point set.
And the third scanning point set is a scanning point set which converts the second scanning point set of the second laser radar on the preset scene into the first laser radar coordinate system.
Specifically, based on the position conversion matrix, a second scanning point set of the second laser radar is converted into a coordinate system where the first laser radar is located, and a third scanning point set of the second laser radar to the preset scene in the coordinate system where the first laser radar is located is obtained.
And S340, determining a calibration conversion matrix based on a preset algorithm, the first scanning point set and the third scanning point set.
Wherein the calibration transformation matrix is a transformation matrix of the third set of scan points relative to the first set of scan points.
Specifically, a rotation matrix and a translation vector of the first scanning point set and the third scanning point set are calculated through an ICP algorithm, and a calibration conversion matrix is obtained.
And S350, determining the actual relative position of the second laser radar to the first laser radar based on the calibration conversion matrix and the position conversion matrix.
Specifically, the calibration transformation matrix is multiplied by the position transformation matrix to obtain the actual relative position of the second laser radar to the first laser radar.
According to the technical scheme provided by the third embodiment, the method for calibrating the relative position of the double laser radars is further optimized, the third scanning point set of the second laser radar to the preset scene in the first laser radar coordinate system is obtained through the position conversion matrix, and the calibration conversion matrix is determined based on the preset algorithm, the first scanning point set and the third scanning point set. And the position conversion matrix is calibrated through the calibration conversion matrix, so that the precision of the calibration result is improved.
Example four
Fig. 4 is a schematic structural diagram of a dual laser radar relative position calibration apparatus according to a fourth embodiment of the present invention. The double-laser-radar relative position calibration device provided by the embodiment of the invention can execute the double-laser-radar relative position calibration method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
The embodiment of the invention provides a relative position calibration device for double laser radars, which comprises:
the scanning point set obtaining module 410 is configured to obtain a first scanning point set of the first laser radar on the preset scene and a second scanning point set of the second laser radar on the preset scene.
And a position transformation matrix determining module 420, configured to determine a position transformation matrix according to a preset relative position of the second lidar to the first lidar.
And an actual relative position determining module 430, configured to determine an actual relative position of the second lidar to the first lidar based on the position conversion matrix, the first set of scanning points, and the second set of scanning points.
In the calibration device for the relative positions of the two laser radars, provided by the fourth embodiment of the present invention, a first scanning point set of a first laser radar on a preset scene and a second scanning point set of a second laser radar on the preset scene are obtained through a scanning point set obtaining module; determining a position conversion matrix according to a preset relative position of the second laser radar to the first laser radar by a position conversion matrix determination module; and the actual relative position determining module determines the actual relative position of the second laser radar to the first laser radar according to the position conversion matrix, the first scanning point set and the second scanning point set. By the technical scheme, the method and the device can use more measurement data without depending on the overlapping area between the radars, reduce the influence of noise of the sensor and improve the precision of a final calibration result.
On the basis of the above embodiment, the scanning point set obtaining module 410 includes:
and the initial scanning measurement data acquisition unit is used for acquiring first initial scanning measurement data of the first laser radar and second initial scanning measurement data of the second laser radar under the condition that the intelligent guided vehicle IGV is at an initial angle.
The scanning point set obtaining unit is used for obtaining first angle first scanning measurement data of a first laser radar and first angle second scanning measurement data of a second laser radar under the condition that an IGV rotates by a first angle, combining the first angle first scanning measurement data and the first initial scanning measurement data through a preset algorithm, combining the first angle second scanning measurement data and the second initial scanning measurement data through the preset algorithm until the scanning ranges of the first laser radar and the second laser radar respectively cover 360-degree preset scenes, combining all the angle first scanning measurement data to the first initial scanning measurement data through the preset algorithm to obtain a first scanning point set, combining all the angle second scanning measurement data to the second initial scanning measurement data through the preset algorithm to obtain a second scanning point set.
On the basis of the above embodiment, the actual relative position determining module 430 includes:
and the third scanning point set determining unit is used for determining a third scanning point set of the second laser radar to the preset scene under the first laser radar coordinate system based on the position conversion matrix and the second scanning point set.
And the calibration conversion matrix determining unit is used for determining a calibration conversion matrix based on a preset algorithm, the first scanning point set and the third scanning point set.
And the actual relative position determining unit is used for determining the actual relative position of the second laser radar to the first laser radar based on the calibration conversion matrix and the position conversion matrix.
EXAMPLE five
Fig. 5 is a schematic structural diagram of an apparatus according to a fifth embodiment of the present invention. As shown in fig. 5, the apparatus includes a processor 510, a memory 520, an input device 530, an output device 540; the number of the processors 510 in the device may be one or more, and one processor 510 is taken as an example in fig. 5; the processor 510, the memory 520, the input device and 530, the output device 540 in the apparatus may be connected by a bus or other means, as exemplified by the bus connection in fig. 5.
The memory 520 may be used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program modules corresponding to the dual-lidar relative position calibration method in the embodiment of the present invention (e.g., the scanning point set acquisition module 410, the position conversion matrix determination module 420, and the actual relative position determination module 430 in the dual-lidar relative position calibration apparatus). Processor 510 executes software programs, instructions, and modules stored in memory 520 to perform various functional applications and data processing of the device, i.e., to implement the dual lidar relative position calibration method described above.
The memory 520 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 520 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 520 may further include memory located remotely from processor 510, which may be connected to devices through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 530 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the apparatus. The output device 540 may include a display device such as a display screen.
EXAMPLE six
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are executed by a computer processor to perform a dual lidar relative position calibration method, where the method includes:
and acquiring a first scanning point set of the first laser radar on a preset scene and a second scanning point set of the second laser radar on the preset scene.
And determining a position conversion matrix according to the preset relative position of the second laser radar to the first laser radar.
And determining the actual relative position of the second laser radar to the first laser radar according to the position conversion matrix, the first scanning point set and the second scanning point set.
Of course, the storage medium provided by the embodiments of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the dual-lidar relative position calibration method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the dual laser radar relative position calibration apparatus, each included unit and module are only divided according to functional logic, but are not limited to the above division, as long as corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (6)
1. A relative position calibration method for a double laser radar is characterized by comprising the following steps:
acquiring a first scanning point set of a first laser radar on a preset scene and a second scanning point set of a second laser radar on the preset scene;
determining a position conversion matrix according to the preset relative position of the second laser radar to the first laser radar;
determining the actual relative position of the second laser radar to the first laser radar according to the position conversion matrix, the first scanning point set and the second scanning point set;
the actual relative position is obtained by multiplying a calibration conversion matrix and a position conversion matrix;
acquiring a first scanning point set of a first laser radar on a preset scene and a second scanning point set of a second laser radar on the preset scene, wherein the scanning point sets comprise:
under the condition that the intelligent guided vehicle IGV is at an initial angle, acquiring first initial scanning measurement data of the first laser radar and second initial scanning measurement data of the second laser radar;
under the condition that the IGV rotates by a first angle, acquiring first angle first scanning measurement data of the first laser radar and first angle second scanning measurement data of the second laser radar, merging the first angle first scanning measurement data and the first initial scanning measurement data through a preset algorithm, merging the first angle second scanning measurement data and the second initial scanning measurement data through the preset algorithm until the scanning ranges of the first laser radar and the second laser radar respectively cover 360-degree preset scenes, merging all angle first scanning measurement data to the first initial scanning measurement data through the preset algorithm to obtain a first scanning point set, and merging all angle second scanning measurement data to the second initial scanning measurement data through the preset algorithm to obtain a second scanning point set;
wherein the first and second lidar are mounted on the IGV, respectively;
determining an actual relative position of the second lidar to the first lidar based on the position translation matrix, the first set of scan points, and the second set of scan points, comprising:
determining a third scanning point set of the second laser radar to the preset scene under the first laser radar coordinate system based on the position conversion matrix and the second scanning point set;
determining a calibration transformation matrix based on a preset algorithm, the first set of scan points and the third set of scan points;
determining an actual relative position of the second lidar to the first lidar based on the calibration transformation matrix and the position transformation matrix.
2. The method of claim 1, wherein the shape of the predetermined scene is a geometric shape.
3. The method according to claim 1, characterized in that the preset algorithm is the closest point iterative algorithm ICP.
4. The utility model provides a two laser radar relative position calibration device which characterized in that includes:
the scanning point set acquisition module is used for acquiring a first scanning point set of a first laser radar on a preset scene and a second scanning point set of a second laser radar on the preset scene;
the position conversion matrix determining module is used for determining a position conversion matrix according to the preset relative position of the second laser radar to the first laser radar;
an actual relative position determining module, configured to determine an actual relative position of the second lidar to the first lidar according to the position conversion matrix, the first scanning point set, and the second scanning point set;
the actual relative position is obtained by multiplying a calibration conversion matrix and a position conversion matrix;
the scanning point set obtaining module comprises:
the initial scanning measurement data acquisition unit is used for acquiring first initial scanning measurement data of the first laser radar and second initial scanning measurement data of the second laser radar under the condition that the intelligent guided vehicle IGV is at an initial angle;
a scanning point set obtaining unit, configured to obtain first angle first scanning measurement data of the first laser radar and first angle second scanning measurement data of the second laser radar when the IGV rotates by a first angle, merge the first angle first scanning measurement data and the first initial scanning measurement data through a preset algorithm, merge the first angle second scanning measurement data and the second initial scanning measurement data through the preset algorithm until scanning ranges of the first laser radar and the second laser radar respectively cover a 360 ° preset scene, merge all angle first scanning measurement data into the first initial scanning measurement data through the preset algorithm to obtain a first scanning point set, and merge all angle second scanning measurement data into the second initial scanning measurement data through the preset algorithm to obtain a second scanning point set;
wherein the first and second lidar are mounted on the IGV, respectively;
the actual relative position determination module comprises:
a third scanning point set determining unit, configured to determine, based on the position conversion matrix and the second scanning point set, a third scanning point set of the second laser radar on the preset scene in the first laser radar coordinate system;
a calibration conversion matrix determination unit, configured to determine a calibration conversion matrix based on a preset algorithm, the first scanning point set, and the third scanning point set;
an actual relative position determination unit to determine an actual relative position of the second lidar to the first lidar based on the calibration transformation matrix and the position transformation matrix.
5. An apparatus for dual lidar relative position calibration, the apparatus comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the dual lidar relative position calibration method of any of claims 1-3.
6. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a dual lidar relative position calibration method according to any of claims 1 to 3.
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| CN115248428B (en) * | 2021-04-28 | 2023-12-22 | 北京航迹科技有限公司 | Laser radar calibration and scanning method and device, electronic equipment and storage medium |
| CN113534191B (en) * | 2021-07-26 | 2022-11-29 | 重庆连芯光电技术研究院有限公司 | 3d image scanning and repairing method, device and equipment of single photon laser radar |
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