CN113204003A - Method and device for determining installation attitude of laser radar - Google Patents
Method and device for determining installation attitude of laser radar Download PDFInfo
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- CN113204003A CN113204003A CN202010077669.6A CN202010077669A CN113204003A CN 113204003 A CN113204003 A CN 113204003A CN 202010077669 A CN202010077669 A CN 202010077669A CN 113204003 A CN113204003 A CN 113204003A
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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
- 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
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Abstract
A method and apparatus for determining the installation attitude of a lidar comprising: acquiring initial laser rays generated when each laser head of the laser radar rotates for one circle under an initial posture; responding to the setting of the target posture of the laser radar, translating and rotating the initial laser ray of each laser head of the laser radar to obtain the target laser ray generated by each laser head in the target posture; acquiring an intersection point of the target laser ray and a set plane to obtain the point cloud density of the laser radar generated on the set plane in the target posture; determining whether the target pose is a proper installation pose by the point cloud density. Through the scheme, the installation attitude of the laser radar can be determined more accurately.
Description
Technical Field
The invention relates to the technical field of computer application, in particular to a method and a device for determining the installation attitude of a laser radar.
Background
When map data are collected, the existing high-precision map collection vehicle collects corresponding data by using various sensors, wherein the sensors comprise inertial navigation equipment (namely inertial navigation equipment), a laser radar and the like, the inertial navigation equipment outputs the running track of the vehicle, and the laser radar uses high-speed laser to scan and measure the road environment in the running process of the vehicle to obtain point cloud data of the road environment.
Before the high-precision map acquisition vehicle starts to work, an important work is to calibrate the installation posture of the laser radar, including the installation position and the installation angle, so as to ensure that the density of point cloud obtained by scanning the laser radar meets the requirement. In the prior art, the installation posture of the laser radar installed on the collection vehicle is changed manually, point cloud data generated by the laser radar under different installation postures is recorded, and then the optimal installation posture is searched. Therefore, a method capable of quickly and accurately determining the installation posture of the laser radar is required.
Disclosure of Invention
The invention aims to provide a method and a device for determining the installation attitude of a laser radar, which can quickly acquire the point cloud density of the laser radar and accurately and efficiently determine the installation attitude of the laser radar.
In order to achieve the above object, the present invention provides a method of determining an installation attitude of a laser radar, the method including:
acquiring initial laser rays generated when each laser head of the laser radar rotates for one circle under an initial posture;
responding to the setting of the target posture of the laser radar, translating and rotating the initial laser ray of each laser head of the laser radar to obtain the target laser ray generated by each laser head in the target posture;
acquiring an intersection point of the target laser ray and a set plane to obtain the point cloud density of the laser radar generated on the set plane in the target posture;
determining whether the target pose is a proper installation pose by the point cloud density.
Further, the acquiring of the initial laser ray generated when each laser head of the laser radar rotates for one cycle in the initial posture includes:
calculating the three-dimensional coordinates of each point in the laser ray generated by one rotation of each laser head according to the azimuth angle of each point in the laser ray generated by one rotation of each laser head and the pitch angle of each laser head;
and obtaining the initial laser ray generated when each laser head rotates for one circle under the pitch angle according to the three-dimensional coordinates of each point in the laser ray generated when each laser head rotates for one circle.
Further, the azimuth angle of each point in the laser ray generated by one rotation of each laser head is obtained by the following method:
calculating the number of points in the laser ray generated by one rotation of each laser head by using the emission frequency and the rotation frequency of each laser head;
and calculating the azimuth angle of each point in the laser ray generated by one rotation of each laser head based on the number of the points in the laser ray generated by one rotation of each laser head.
Further, translating and rotating the initial laser ray of each laser head of the laser radar to obtain the target laser ray generated by each laser head in the target posture includes:
obtaining a relation matrix of the laser radar under the target attitude relative to a vehicle coordinate system;
and translating and rotating the initial laser ray of each laser head of the laser radar by using the relation matrix to obtain the target laser ray generated by each laser head in the target posture.
Further, the obtaining a relation matrix of the lidar relative to a vehicle coordinate system in the target posture comprises:
obtaining a rotation matrix of the laser radar in the target attitude relative to a vehicle coordinate system based on the installation angle of the laser radar in the target attitude;
obtaining a translation vector of the laser radar under the target posture relative to a vehicle coordinate system;
and obtaining a relation matrix of the laser radar under the target attitude relative to a vehicle coordinate system based on the rotation matrix and the translation vector.
The invention also provides a device for determining the installation attitude of the laser radar, which comprises: the system comprises an initial laser ray acquisition unit, a target laser ray acquisition unit, a point cloud density acquisition unit and an installation attitude determination unit;
the initial laser ray acquisition unit is used for acquiring initial laser rays generated when each laser head of the laser radar rotates for one circle under an initial posture;
the target laser ray acquisition unit is used for responding to the setting of the target posture of the laser radar, translating and rotating the initial laser rays of each laser head of the laser radar to obtain the target laser rays generated by each laser head in the target posture;
the point cloud density acquisition unit is used for acquiring an intersection point of the target laser ray and a set plane so as to obtain the point cloud density generated by the laser radar on the set plane in the target posture;
the installation posture determination unit is used for determining whether the target posture is a proper installation posture or not through the point cloud density.
The present invention also provides an electronic device, the device comprising:
a storage device;
one or more processors;
wherein the storage is to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method as described above.
The invention also provides a computer program product comprising computer program instructions for implementing the method as described above when said instructions are executed by a processor.
The invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed, implements a method as described above.
Compared with the prior art, the method and the device for determining the installation posture of the laser radar provided by the invention have the advantages that the target laser ray under the target posture is obtained by translating and rotating the initial laser ray emitted by each level of optical heads of the laser radar, and the point cloud density of the target laser ray under the set plane is obtained, so that whether the setting of the target posture is proper or not can be judged based on the point cloud density, a reliable theoretical basis is provided for the subsequent installation of the laser radar, the point cloud evaluation and other processes, the method and the device can be quickly applied to actual projects, and the project execution efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flow chart of a method of determining an installation attitude of a lidar in accordance with the present invention.
Fig. 2 is a schematic view of an angular arrangement of laser heads of the laser radar according to the embodiment of the present invention.
Fig. 3 is a schematic point cloud diagram of a simulation laser horizontal installation according to an embodiment of the present invention.
Fig. 4 is a schematic point cloud diagram of a simulated laser installation with an inclination of 40 ° in accordance with an embodiment of the present invention.
Fig. 5 is a schematic diagram of a point cloud obtained by scanning a simulated laser to a guideboard according to an embodiment of the present invention.
Fig. 6 is a block diagram of a device for determining an installation posture of a laser radar according to a second embodiment of the present invention.
Detailed Description
In order to facilitate those skilled in the art to understand and implement the present invention, the following technical solutions of the present invention are clearly and completely described with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments + embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The first embodiment is as follows:
referring to fig. 1, an embodiment of the present invention provides a method for determining an installation attitude of a lidar, including the steps of:
step 101: and acquiring initial laser rays generated when each laser head of the laser radar rotates for one circle under the initial posture.
In an initial state, the direction of the lidar coincides with the direction of the vehicle coordinate system.
Each frame point cloud of the laser emitted by the laser radar is an initial laser ray generated by one rotation of the laser.
The initial laser ray that produces when each laser head of acquireing laser radar rotates one week under initial gesture specifically includes:
(1) calculating the number M of points of each laser head of the laser radar, namely, each line of laser rotating for one circle:
where V denotes the emission frequency of the laser in dots/sec, and F denotes the rotation frequency of the laser in Hz.
(2) Calculating the azimuth angle azimuth of the mth point of the nth laser head, i.e. the nth line laserm：
N is more than or equal to 1 and less than or equal to N, N is the number of laser heads of the laser radar, namely the total number of lasers capable of emitting, and M is more than or equal to 0 and less than or equal to M.
(3) According to the azimuth angle azimuthmAnd the pitch angle a of the nth laser headnCalculating the three-dimensional coordinates of the m point of the n laser head
x＝length×cos(an)×sin(azimuthm)；
y＝length×cos(an)×cos(azimythm)；
z＝length×sin(an)；
Where length is the maximum distance of the laser scan in meters.
(4) And obtaining initial laser rays generated when each laser head rotates for one circle under the pitch angle of the laser head according to the three-dimensional coordinates.
As shown in fig. 2, in the device parameters of the lidar, the pitch angle of each line of laser is provided, and before the step (1), a pitch angle set a of all N lines of laser of the lidar is also obtained in advance:
A＝{a1，a2，a3，…，an，…，aN}；
wherein, anThe pitch angle of the nth laser head is shown, N is the number of laser heads included in the laser radar, that is, the total number of laser beams that can be emitted by the laser radar, and if the number of laser heads of the laser radar is 32, N is 32.
Step 102: responding to the setting of the target posture of the laser radar, translating and rotating the initial laser ray of each laser head of the laser radar to obtain the target laser ray generated by each laser head in the target posture;
the setting responding to the target posture of the laser radar is carried out, the initial laser ray of each laser head of the laser radar is translated and rotated, and the target laser ray generated by each laser head in the target posture is obtained; the method specifically comprises the following steps:
(1) and setting the target attitude of the laser radar, and taking the installation angle { roll, pitch, yaw } of the laser radar relative to a vehicle coordinate system as the target attitude.
The rotation matrix of the laser radar relative to the vehicle coordinate system is R, and the translation vector T of the laser radar relative to the vehicle coordinate system is { T ═ T }x，ty，tzWhere t isx、ty、tzRespectively representing the translation distances of the laser radar relative to the vehicle coordinate system in the directions of x, y and z axes; obtaining a rotation matrix R of the lidar relative to a vehicle coordinate system based on an installation angle of the lidar.
In the initial state, the installation angle of the laser radar is {0, 0, 0}, and the rotation matrix of the laser radar relative to the vehicle coordinate system is an identity matrix R:
in the present invention, the translation matrix may be T ═ {0, 0, H }, where H is the installation height of the lidar in meters.
(2) Obtaining a relation matrix M of the laser radar relative to a vehicle coordinate system:
(3) translating and rotating the initial laser ray of each laser head of the laser radar by using the relation matrix M to obtain the target laser ray generated by each laser head in the target posture
According to the three-dimensional coordinates of the points in all theoretical rays of which each laser head of the laser radar rotates for one circle in the initial state (namely the calculated three-dimensional coordinates of the m-th point of the n-th laser head)
) And calculating the relation matrix to obtain the three-dimensional coordinates of the points in the target laser ray generated by each laser head in the target posture
x ' y ' z ' respectively represents values in the three axial directions of the vehicle coordinate system x, y, z, wherein:
the set of three-dimensional coordinates of points in the target laser ray produced by each laser head in the target pose forms the target laser ray produced by each laser head in the target pose.
Step 103: and acquiring an intersection point of the target laser ray and a set plane to obtain the point cloud density generated by the laser radar on the set plane in the target posture.
In step 103, the external environment is represented using a plane equation for setting a plane, which is generally in the form of:
Ax+By+Cz+D＝0；
the ground equation is:
z＝0。
fig. 3 and 4 show the point clouds obtained by horizontal installation and 40-degree oblique installation of the laser radar, respectively.
For some scenes with special setting planes, if there are brands in the setting planes, the definition of the space bounding volume of the brands needs to be given. Through the origin {0, 0, 0} and
the space linear equation of (a) is solved in parallel with the plane equation to obtain the point of the laser radar in the set plane, as shown in fig. 5. This process can be handled using any method of spatial line intersection with a plane.
Step 104: determining whether the target pose is a proper installation pose by the point cloud density.
Analyzing the point cloud density generated in the step 103, and judging information such as the density degree of the point cloud density to judge whether the set target posture belongs to a proper installation posture.
Example two:
referring to fig. 6, a second embodiment of the present invention provides an apparatus for determining an installation posture of a lidar, the apparatus including: the device comprises an initial laser ray acquisition unit, a target laser ray acquisition unit, a point cloud density acquisition unit and an installation attitude determination unit.
And the initial laser ray acquisition unit is used for acquiring initial laser rays generated when each laser head of the laser radar rotates for one circle under the initial posture.
In an initial state, the direction of the lidar coincides with the direction of the vehicle coordinate system.
Each frame point cloud of the laser emitted by the laser radar is an initial laser ray generated by one rotation of the laser.
The initial laser ray that produces when each laser head of acquireing laser radar rotates one week under initial gesture specifically includes:
(1) calculating the number M of points of each laser head of the laser radar, namely, each line of laser rotating for one circle:
where V denotes the emission frequency of the laser in dots/sec, and F denotes the rotation frequency of the laser in Hz.
(2) Calculating the azimuth angle azimuth of the mth point of the nth laser head, i.e. the nth line laserm：
N is more than or equal to 1 and less than or equal to N, N is the number of laser heads of the laser radar, namely the total number of lasers capable of emitting, and M is more than or equal to 0 and less than or equal to M.
(3) According to the azimuth angle azimuthmAnd the pitch angle a of the nth laser headnCalculating the three-dimensional coordinates of the m point of the n laser head
x＝length×cos(an)×sin(azimuthm)；
y＝length＝cos(an)×cos(azimuthm)；
z＝length×sin(an)；
Where length is the maximum distance of the laser scan in meters.
(4) And obtaining initial laser rays generated when each laser head rotates for one circle under the pitch angle of the laser head according to the three-dimensional coordinates.
As shown in fig. 2, in the device parameters of the lidar, the pitch angle of each line of laser is provided, and before the step (1), a pitch angle set a of all N lines of laser of the lidar is also obtained in advance:
A＝{a1，a2，a3，…，an，…，aN}；
wherein, anThe pitch angle of the nth laser head is shown, N is the number of laser heads included in the laser radar, that is, the total number of laser beams that can be emitted by the laser radar, and if the number of laser heads of the laser radar is 32, N is 32.
The target laser ray acquisition unit is used for responding to the setting of the target posture of the laser radar, translating and rotating the initial laser rays of each laser head of the laser radar to obtain the target laser rays generated by each laser head in the target posture;
the setting responding to the target posture of the laser radar is carried out, the initial laser ray of each laser head of the laser radar is translated and rotated, and the target laser ray generated by each laser head in the target posture is obtained; the method specifically comprises the following steps:
(1) and setting the target attitude of the laser radar, and taking the installation angle { roll, pitch, yaw } of the laser radar relative to a vehicle coordinate system as the target attitude.
The rotation matrix of the laser radar relative to the vehicle coordinate system is R, and the translation vector T of the laser radar relative to the vehicle coordinate system is { T ═ T }x，ty，tzWhere t isx、ty、tzRespectively representing the translation distances of the laser radar relative to the vehicle coordinate system in the directions of x, y and z axes; based on the laserThe mounting angle is reached to obtain a rotation matrix R of the lidar relative to a vehicle coordinate system.
In the initial state, the installation angle of the laser radar is {0, 0, 0}, and the rotation matrix of the laser radar relative to the vehicle coordinate system is an identity matrix R:
in the present invention, the translation matrix may be T ═ {0, 0, H }, where H is the installation height of the lidar in meters.
(2) Obtaining a relation matrix M of the laser radar relative to a vehicle coordinate system:
(3) translating and rotating the initial laser ray of each laser head of the laser radar by using the relation matrix M to obtain the target laser ray generated by each laser head in the target posture
According to the three-dimensional coordinates of the points in all theoretical rays of which each laser head of the laser radar rotates for one circle in the initial state (namely the calculated three-dimensional coordinates of the m-th point of the n-th laser head)
) And calculating the relation matrix to obtain the three-dimensional coordinates of the points in the target laser ray generated by each laser head in the target posture
x ' y ' z ' respectively represents values in the three axial directions of the vehicle coordinate system x, y, z, wherein:
the set of three-dimensional coordinates of points in the target laser ray produced by each laser head in the target pose forms the target laser ray produced by each laser head in the target pose.
The point cloud density acquisition unit is used for acquiring the intersection point of the target laser ray and a set plane so as to obtain the point cloud density generated by the laser radar on the set plane in the target posture.
The external environment is represented using a plane equation that sets a plane, the general form of which is:
Ax+By+Cz+D＝0；
the ground equation is:
z＝0。
for some scenes with special setting planes, if there are brands in the setting planes, the definition of the space bounding volume of the brands needs to be given. Through the origin {0, 0, 0} and
the space linear equation and the plane equation are solved simultaneously to obtain the point of the laser radar in the set plane. This process can be handled using any method of spatial line intersection with a plane.
The installation posture determination unit is used for determining whether the target posture is a proper installation posture or not through the point cloud density.
And judging whether the set target posture belongs to a proper installation posture or not by judging information such as the fineness of the point cloud density.
Compared with the prior art, the method and the device for determining the installation posture of the laser radar provided by the invention construct a theoretical equation of the coordinates of the laser scanning point by only using the parameters of the laser sensor, are suitable for any installation position and angle, and are convenient to check whether the point cloud under the three-dimensional scene is too dense or too sparse, so that a basis is provided for setting the emission frequency and the running frequency of laser, a reliable theoretical basis is provided for subsequent installation, point cloud evaluation and other processes, the method and the device can be quickly applied to actual projects, and the project execution efficiency is improved.
In addition, the embodiment of the invention also discloses an electronic device, which comprises a storage device and one or more processors, wherein the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors realize the method according to the first embodiment.
The embodiment of the invention also discloses a computer program product which comprises computer program instructions and is used for realizing the method in the first embodiment when the instructions are executed by a processor.
The embodiment of the invention also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed, the method of the first embodiment is realized.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods, apparatus, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart and block diagrams may represent a unit, module, segment, or portion of code, which comprises one or more computer-executable instructions for implementing the logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. It will also be noted that each block of the block diagrams and flowchart illustrations, and combinations of blocks in the block diagrams and flowchart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention, and is provided by way of illustration only and not limitation. It will be apparent to those skilled in the art from this disclosure that various other changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (8)
1. A method of determining an installation attitude of a lidar, wherein the method comprises:
acquiring initial laser rays generated when each laser head of the laser radar rotates for one circle under an initial posture;
responding to the setting of the target posture of the laser radar, translating and rotating the initial laser ray of each laser head of the laser radar to obtain the target laser ray generated by each laser head in the target posture;
and acquiring an intersection point of the target laser ray and a set plane to obtain the point cloud density of the laser radar generated on the set plane in the target attitude, and determining whether the target attitude is a proper installation attitude according to the point cloud density.
2. The method of claim 1, wherein the acquiring of the initial laser radiation generated by each laser head of the lidar during one revolution in the initial attitude comprises:
calculating the three-dimensional coordinates of each point in the laser ray generated by one rotation of each laser head according to the azimuth angle of each point in the laser ray generated by one rotation of each laser head and the pitch angle of each laser head;
and obtaining the initial laser ray generated when each laser head rotates for one circle under the pitch angle according to the three-dimensional coordinates of each point in the laser ray generated when each laser head rotates for one circle.
3. The method of claim 2 in which the azimuth angle of each point in the laser radiation produced by one revolution of each laser head is obtained by:
calculating the number of points in the laser ray generated by one rotation of each laser head by using the emission frequency and the rotation frequency of each laser head;
and calculating the azimuth angle of each point in the laser ray generated by one rotation of each laser head based on the number of the points in the laser ray generated by one rotation of each laser head.
4. The method of any one of claims 1 to 3, wherein said translating and rotating the initial laser beam of each laser head of the lidar to obtain the target laser beam produced by each laser head in the target pose comprises:
obtaining a relation matrix of the laser radar under the target attitude relative to a vehicle coordinate system;
and translating and rotating the initial laser ray of each laser head of the laser radar by using the relation matrix to obtain the target laser ray generated by each laser head in the target posture.
5. The method of claim 4, wherein the obtaining a matrix of the lidar relative to a vehicle coordinate system at the target pose comprises:
obtaining a rotation matrix of the laser radar in the target attitude relative to a vehicle coordinate system based on the installation angle of the laser radar in the target attitude;
obtaining a translation vector of the laser radar under the target posture relative to a vehicle coordinate system;
and obtaining a relation matrix of the laser radar under the target attitude relative to a vehicle coordinate system based on the rotation matrix and the translation vector.
6. An apparatus for determining an installation attitude of a lidar, wherein the apparatus comprises: the system comprises an initial laser ray acquisition unit, a target laser ray acquisition unit, a point cloud density acquisition unit and an installation attitude determination unit;
the initial laser ray acquisition unit is used for acquiring initial laser rays generated when each laser head of the laser radar rotates for one circle under an initial posture;
the target laser ray acquisition unit is used for responding to the setting of the target posture of the laser radar, translating and rotating the initial laser rays of each laser head of the laser radar to obtain the target laser rays generated by each laser head in the target posture;
the point cloud density acquisition unit is used for acquiring an intersection point of the target laser ray and a set plane so as to obtain the point cloud density generated by the laser radar on the set plane in the target posture;
the installation posture determination unit is used for determining whether the target posture is a proper installation posture or not through the point cloud density.
7. An electronic device, wherein the device comprises:
a storage device;
one or more processors;
wherein the storage is to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-5.
8. A computer-readable storage medium, on which a computer program is stored which, when executed, implements the method of any of claims 1-5.
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