CN114440922A - Method and device for evaluating laser calibration, related equipment and storage medium - Google Patents
Method and device for evaluating laser calibration, related equipment and storage medium Download PDFInfo
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- CN114440922A CN114440922A CN202011188980.4A CN202011188980A CN114440922A CN 114440922 A CN114440922 A CN 114440922A CN 202011188980 A CN202011188980 A CN 202011188980A CN 114440922 A CN114440922 A CN 114440922A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
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Abstract
The embodiment of the application provides a method, a device, related equipment and a storage medium for evaluating laser calibration, wherein the method comprises the following steps: acquiring a reference surface in a first point cloud of a preset area and an evaluation surface which belongs to the same plane with the reference surface in a second point cloud of the preset area, wherein laser points in the first point cloud have true value coordinates, and laser points in the second point cloud have calibration coordinates obtained through laser calibration; determining the distance between the reference surface and the evaluation surface according to the true value coordinates of the laser points forming the reference surface and the calibration coordinates of the laser points forming the evaluation surface; and determining the evaluation result of the laser calibration according to the distance between the reference surface and the evaluation surface. The laser calibration method and device can evaluate the laser calibration precision and improve the accuracy of the evaluation result.
Description
Technical Field
The embodiment of the application relates to the technical field of maps, in particular to a method and a device for evaluating laser calibration, related equipment and a storage medium.
Background
The point cloud is a collection of points expressing the spatial distribution and surface characteristics of the target, and is mainly used for making high-precision map data. The point cloud can be acquired by vehicle-mounted mobile laser measuring equipment arranged on the acquisition vehicle, and particularly, the vehicle-mounted mobile laser measuring equipment combines laser scanning and position positioning, so that the point cloud with position coordinates can be acquired in the driving process of the acquisition vehicle.
Laser calibration is a process of converting laser coordinates into position coordinates, and the precision of laser calibration determines the manufacturing precision of high-precision map data, so how to provide a scheme for evaluating laser calibration to evaluate the precision of laser calibration becomes a technical problem which needs to be solved urgently by technical staff in the field.
Disclosure of Invention
In view of this, embodiments of the present application provide a method, an apparatus, related devices, and a storage medium for evaluating laser calibration, so as to evaluate the precision of laser calibration.
In order to achieve the above purpose, the embodiments of the present application provide the following technical solutions:
a method of evaluating laser calibration, comprising:
acquiring a reference surface in a first point cloud of a preset area and an evaluation surface which belongs to the same plane with the reference surface in a second point cloud of the preset area, wherein laser points in the first point cloud have true value coordinates, and laser points in the second point cloud have calibration coordinates obtained through laser calibration;
determining the distance between the reference surface and the evaluation surface according to the true value coordinates of the laser points forming the reference surface and the calibration coordinates of the laser points forming the evaluation surface;
and determining the evaluation result of the laser calibration according to the distance between the reference surface and the evaluation surface.
The embodiment of the present application further provides a device for evaluating laser calibration, including:
the system comprises an acquisition module, a calibration module and a processing module, wherein the acquisition module is used for acquiring a reference surface in a first point cloud of a preset area and an evaluation surface which belongs to the same plane with the reference surface in a second point cloud of the preset area, a laser point in the first point cloud has a true value coordinate, and a laser point in the second point cloud has a calibration coordinate obtained through laser calibration;
the distance determining module is used for determining the distance between the reference surface and the evaluation surface according to the true value coordinates of the laser points forming the reference surface and the calibration coordinates of the laser points forming the evaluation surface;
and the evaluation result determining module is used for determining the evaluation result of the laser calibration according to the distance between the reference surface and the evaluation surface.
The embodiment of the present application further provides an evaluation apparatus, which includes at least one memory and at least one processor, where the memory stores one or more computer-executable instructions, and the processor invokes the one or more computer-executable instructions to execute the method for evaluating laser calibration as described above.
The embodiment of the present application further provides a vehicle-mounted mobile laser measuring device, including: the system comprises a positioning and attitude determining system, a laser scanning device, an image acquisition device, a memory and a processor; the positioning and attitude determining system is used for providing absolute attitude and attitude information, the laser scanning device is used for collecting point clouds in a space, the image collecting device is used for collecting images in the space, the memory stores one or more computer executable instructions, and the processor calls the one or more computer executable instructions to execute the method for evaluating the laser calibration.
An embodiment of the present application further provides a storage medium, where the storage medium stores one or more computer-executable instructions, and the one or more computer-executable instructions are configured to execute the method for evaluating laser calibration as described above.
The method for evaluating the laser calibration provided by the embodiment of the application can obtain a reference surface in a first point cloud of a preset area and an evaluation surface which belongs to the same plane as the reference surface in a second point cloud of the preset area, wherein a laser point in the first point cloud has a true value coordinate, and a laser point in the second point cloud has a calibration coordinate obtained through laser calibration; therefore, in the embodiment of the present application, the distance between the reference surface and the evaluation surface can be determined according to the true value coordinates of the laser points constituting the reference surface and the calibration coordinates of the laser points constituting the evaluation surface, and the distance can reflect the error between the reference surface constituted by the points of the true value coordinates and the evaluation surface constituted by the points of the calibration coordinates; furthermore, according to the embodiment of the application, the evaluation result of the laser calibration can be determined according to the distance between the reference surface and the evaluation surface, so that the evaluation of the laser calibration precision can be realized.
According to the embodiment of the application, after the datum plane with the true value coordinates of the points is determined from the first point cloud and the evaluation plane with the calibration coordinates of the points is determined from the second point cloud, the distance between the datum plane and the evaluation plane which belong to the same plane can be calculated, and therefore the evaluation result of laser calibration is determined based on the distance. Therefore, the method and the device for evaluating the laser calibration precision utilize the reference surface and the evaluation surface of the same plane in the first point cloud and the second point cloud to evaluate the laser calibration precision, but not directly utilize the true value coordinates and the calibration coordinates of the corresponding feature points in the first point cloud and the second point cloud to evaluate the laser calibration precision.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a block diagram of a vehicle-mounted mobile laser measurement device provided in an embodiment of the present application;
FIG. 2 is a flow chart of a method for evaluating laser calibration provided by an embodiment of the present application;
fig. 3 is a flowchart for measuring a true coordinate of a midpoint of a first point cloud according to an embodiment of the present disclosure;
FIG. 4 is a flow chart of determining a reference plane from a first point cloud according to an embodiment of the present disclosure;
FIG. 5 is a flowchart for determining an evaluation surface according to an embodiment of the present application;
FIG. 6 is a flow chart for determining an assessment result provided in an embodiment of the present application;
FIG. 7 is a diagram illustrating an exemplary process for evaluating laser calibration provided by an embodiment of the present application;
FIG. 8 is a block diagram of an apparatus for evaluating laser calibration provided by an embodiment of the present application;
fig. 9 is a block diagram of an evaluation apparatus provided in the embodiment of the present application;
fig. 10 is another block diagram of the vehicle-mounted mobile laser measuring device provided in the embodiment of the present application.
Detailed Description
The vehicle-mounted mobile laser measuring equipment is equipment which is arranged on a collecting vehicle and is used for collecting point clouds, and the point clouds with position coordinates are collected by combining laser scanning and position positioning; in one example, fig. 1 shows a structure of a vehicle-mounted mobile laser measuring device, which may include, as shown in fig. 1: a POS (Positioning and Orientation System) 10, a laser scanning device 20, an image capturing device 30; the POS is used for providing positioning position, attitude information and the like, and may include a GNSS (global navigation satellite system) and an INS (inertial navigation system), and further, the POS may further include a device such as a odometer that provides position information when GNSS signals are not good; the laser scanning device collects the point cloud of the space by emitting single-line laser or multi-line laser, taking emitting single-line laser to collect the point cloud as an example, one laser emitter of the laser scanning device can emit a single-line laser beam, so that the point cloud of the space is collected by combining with a rotary scanner; the image acquisition device is used for acquiring images of a space.
The laser scanning device and the POS integrated on the vehicle-mounted mobile laser measuring equipment are provided with coordinate systems of the laser scanning device and the POS, in order to obtain point clouds with position coordinates, so that high-precision map data can be manufactured conveniently, the laser coordinates of laser in the laser coordinate system need to be converted into the position coordinates in the POS coordinate system, the process is called laser calibration, the laser calibration can be regarded as a link in point cloud calculation, and the laser calibration involves using 6 calculation parameters to carry out laser calibration, such as three rotation angles and three translation amounts; the laser calibration is used as a key technology integrated in the vehicle-mounted mobile laser measuring equipment and determines the manufacturing precision of high-precision map data, so that the evaluation of the precision of the laser calibration is particularly necessary.
Currently, the evaluation of laser calibration can be realized by comparing the true coordinates and the calibration coordinates of the midpoint of the point cloud, and an exemplary process is as follows:
determining a proper field in an outdoor field as a calibration area, and taking characteristic points of a house corner point, a window corner point, a traffic sign corner point and the like of a building in the calibration area as detection points; therefore, the absolute coordinates of the detection points are obtained by using surveying and mapping means such as Real-Time Kinematic (RTK) and a total station, and the absolute coordinates of the detection points can be used as true coordinates of the detection points; the RTK is a carrier phase differential technology, and can send a carrier phase acquired by a reference station to a user receiver for solving a coordinate by means of difference; a Total Station, namely a Total Station type Electronic distance meter (Electronic Total Station), is a surveying instrument system integrating horizontal angle, vertical angle, distance (slant distance and horizontal distance) and altitude difference measurement functions;
secondly, collecting point clouds in a calibration area by using vehicle-mounted mobile laser measuring equipment, manually determining characteristic points corresponding to detection points in the point clouds, converting laser coordinates of the characteristic points into position coordinates of a POS (point of sale) coordinate system, wherein the position coordinates of the characteristic points can be used as calibration coordinates of the characteristic points; and comparing the true value coordinates of the detection points with the calibration coordinates of the corresponding characteristic points in the point cloud to realize the evaluation of the laser calibration.
The above-described manner of evaluating laser calibration has the following problems: characteristic points corresponding to the detection points need to be manually determined from the point cloud, and the error of manually determining the characteristic points is large, so that the accuracy of the evaluation result of laser calibration is low; the density of the point cloud is relatively sparse in the far distance of the calibration area, so that the feature point position of the point cloud in the far distance of the calibration area cannot be clearly distinguished, and the point cloud with far distance measurement is an indispensable part for evaluating the laser calibration, so that the accuracy of the evaluation result of the laser calibration is not high.
Therefore, the problem that the accuracy of the evaluation result is not high exists in the existing evaluation laser calibration mode, and based on the problem, the embodiment of the application provides an optimized evaluation laser calibration scheme to evaluate the precision of the laser calibration and improve the accuracy of the evaluation result.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the 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 application.
In an alternative implementation, fig. 2 shows an alternative flow of the method for evaluating laser calibration provided in the embodiment of the present application, and as shown in fig. 2, the method flow may include:
step S100, a ground laser radar collects first point cloud of a preset area, and points in the first point cloud have true coordinates.
Optionally, the preset region may be an outdoor calibration region for evaluating the laser marking precision in the embodiment of the present application, and the determination of the preset region may satisfy the following conditions: an open and high-signal area, positioning signals such as GNSS signals, etc.; a high-voltage signal tower is not arranged in a certain distance from the area, and the certain distance can be set according to the actual situation, such as 2 kilometers; a large number of flat building surfaces are arranged in the area, and planes can be found at a plurality of angles in the area; the traffic condition in the area is better, and the situations such as traffic jam do not exist. Of course, the determination condition of the preset area may be set according to actual conditions, the above example is only an optional description, and the embodiment of the present application may determine, as the preset area, an area with a good positioning signal and a large number of flat building surfaces in principle.
After the preset area is determined, the embodiment of the application can scan the preset area by using a ground laser radar to acquire a first point cloud of the preset area, and measure a truth coordinate of a midpoint of the first point cloud by using a surveying and mapping means so that points in the first point cloud have the truth coordinate; optionally, a mapping means may be used to measure the absolute coordinates of the midpoint of the first point cloud, and the absolute coordinates of the midpoint may be used as the true coordinates of the midpoint, which is the abbreviation of the laser point.
Step S110, the vehicle-mounted mobile laser measuring device collects second point clouds in a preset area, and points in the second point clouds have calibration coordinates obtained through laser calibration.
In optional implementation, the point cloud of the preset area can be collected by the vehicle-mounted mobile laser measuring device, so that the second point cloud of the preset area is obtained, and the vehicle-mounted mobile laser measuring device converts the laser coordinates of the points into position coordinates in a laser calibration mode to serve as calibration coordinates of the points, so that the points in the second point cloud have the calibration coordinates.
Step S120, the evaluating device obtains a reference surface in the first point cloud of the preset area and an evaluating surface which belongs to the same plane with the reference surface in the second point cloud of the preset area.
The evaluation device can be an electronic device for evaluating laser calibration according to the embodiment of the application, and in optional implementation, the evaluation device can be implemented by using a vehicle-mounted mobile laser measuring device or other electronic devices with data processing capability. The first point cloud (the laser points in the first point cloud have measured true value coordinates) of the preset area collected by the ground laser radar, and the second point cloud (the laser points in the second point cloud have calibrated coordinates obtained through laser calibration) of the preset area collected by the vehicle-mounted mobile laser measuring device can be input into the evaluating device, so that the evaluating device can evaluate the precision of the laser calibration.
Optionally, for a first point cloud of a preset region, the evaluation device may determine a reference plane from the first point cloud; for example, the embodiment of the application can determine a flat plane point cloud from a first point cloud in multiple angles, so as to obtain reference surfaces based on the determined plane point cloud, wherein the number of the reference surfaces can be multiple; more specifically, the method and the device can determine flat plane point clouds with point spacing not smaller than a spacing threshold and area not smaller than an area threshold from the first point clouds in multiple angles, so as to obtain a reference surface based on the determined plane point clouds; since the points in the first point cloud have true coordinates, the points in the reference plane determined from the first point cloud also have true coordinates.
After a reference surface of the first point cloud is obtained and points in the reference surface have true value coordinates, the embodiment of the application can further determine an evaluation surface which belongs to the same plane as the reference surface from a second point cloud in a preset area; an evaluation surface in the second point cloud, which belongs to the same plane as the reference surface, such as a homonymous surface in the second point cloud corresponding to the reference surface; since the points in the second point cloud have calibration coordinates, the points of the evaluation surface determined from the second point cloud also have calibration coordinates. In the embodiment of the application, the evaluation surface can be regarded as a plane point cloud for performing laser calibration evaluation in the second point cloud.
Step S130, the evaluating device determines the distance between the reference surface and the evaluating surface according to the true value coordinate of the laser point forming the reference surface and the calibration coordinate of the laser point forming the evaluating surface.
And S140, determining an evaluation result of the laser calibration according to the distance between the reference surface and the evaluation surface by evaluation equipment.
Because the reference surface and the evaluation surface belong to the same plane in the first point cloud and the second point cloud, the coordinates of the points in the reference surface are truth coordinates, and the coordinates of the points in the evaluation surface are calibration coordinates obtained through a laser calibration mode, in order to evaluate the precision of laser calibration, the distance between the reference surface and the evaluation surface can be determined based on the truth coordinates of the points of the reference surface and the calibration coordinates of the points of the evaluation surface, and the distance can reflect the error between the reference surface formed by the points of the truth coordinates and the evaluation surface formed by the points of the calibration coordinates, so that the precision of laser calibration can be evaluated on the plane layer of the point clouds through the distance between the reference surface and the evaluation surface, and the evaluation result of laser calibration can be obtained.
In an optional implementation, the distance between the reference surface and the evaluation surface may be determined according to the true coordinates of the points of the reference surface and the calibration coordinates of the points of the evaluation surface; under the condition that the number of the reference surfaces is multiple and the number of the evaluation surfaces which correspond to the reference surfaces and belong to the same plane is also multiple, the embodiment of the application can obtain multiple pairs of the reference surfaces and the evaluation surfaces, wherein one pair of the reference surface and the evaluation surface comprises one reference surface and an evaluation surface which belongs to the same plane as the reference surface; after the distances between each pair of reference surfaces and the evaluation surface are obtained, the embodiment of the application can obtain the evaluation result of the laser calibration based on the distances between the pairs of reference surfaces and the evaluation surface, for example, at least one evaluation index such as a maximum distance value, a distance error, a distance average error and the like is calculated based on the distances between the pairs of reference surfaces and the evaluation surface, so that the at least one evaluation index forms the evaluation result of the laser calibration.
The method for evaluating the laser calibration provided by the embodiment of the application can be used for obtaining a reference surface in a first point cloud of a preset area and an evaluation surface which belongs to the same plane as the reference surface in a second point cloud of the preset area, wherein a laser point in the first point cloud has a true value coordinate, and a laser point in the second point cloud has a calibration coordinate obtained through laser calibration; therefore, in the embodiment of the present application, the distance between the reference surface and the evaluation surface can be determined according to the true value coordinates of the laser points constituting the reference surface and the calibration coordinates of the laser points constituting the evaluation surface, and the distance can reflect the error between the reference surface constituted by the points of the true value coordinates and the evaluation surface constituted by the points of the calibration coordinates; furthermore, according to the embodiment of the application, the evaluation result of the laser calibration can be determined according to the distance between the reference surface and the evaluation surface, so that the evaluation of the laser calibration precision can be realized.
According to the embodiment of the application, after the datum plane with the true value coordinates of the points is determined from the first point cloud and the evaluation plane with the calibration coordinates of the points is determined from the second point cloud, the distance between the datum plane and the evaluation plane which belong to the same plane can be calculated, and therefore the evaluation result of laser calibration is determined based on the distance. Therefore, the method and the device for evaluating the laser calibration precision utilize the reference surface and the evaluation surface of the same plane in the first point cloud and the second point cloud to evaluate the laser calibration precision, but not directly utilize the true value coordinates and the calibration coordinates of the corresponding feature points in the first point cloud and the second point cloud to evaluate the laser calibration precision.
In an optional implementation, fig. 3 shows an optional process of measuring the true coordinates of the midpoint of the first point cloud in the embodiment of the present application, and after the first point cloud is collected in a laser scanning manner on the preset region, the embodiment of the present application may measure the true coordinates of the midpoint of the first point cloud by a mapping method, where the optional process is as shown in fig. 3:
and step S200, measuring the true value coordinate of the datum point in the preset area.
After an outdoor calibration area is selected (namely, after a preset area is selected), the real-valued coordinate of a reference point in the preset area can be measured by a surveying and mapping method in the embodiment of the application, so that the measured real-valued coordinate of the reference point is obtained; the number of the datum points may be multiple, for example, the number of the datum points is 2, and thus, the embodiment of the present application is not limited; the reference point can be determined on the ground which is open and not easy to deform in the preset area, and the reference point can be marked on the determined ground.
In an optional implementation, a satellite positioning means may be adopted to measure a true value coordinate of a reference point in a preset area, so as to obtain the true value coordinate of the reference point; specifically, the embodiments of the present application may measure the true coordinates of the reference point in the preset area based on the operation mode of the continuously operating reference station for satellite positioning.
Step S210, taking the reference point as a base point, and measuring a truth coordinate of the midpoint of the first point cloud based on the truth coordinate of the reference point.
Optionally, in the embodiment of the present application, the ground lidar may be used to scan the preset area, so as to obtain the first point cloud of the preset area acquired by the ground lidar; when the ground laser radar scans the preset area, the scanning range is enabled to cover the plane which is selected in advance in the preset area, and the scanning areas among different laser stations are required to be overlapped by no less than a preset proportion (the preset proportion is 50% for example, and can be set according to actual conditions).
After the first point cloud is collected, optionally, a reference point in a preset area may be used as a base point, and the true value coordinate of the reference point measured in step S200 is used as a reference point, and the true value coordinate of the first point cloud midpoint is obtained through measurement and mapping means.
In an optional implementation, the measured true coordinates of the cloud midpoint of the first point may include true coordinates of control points in a preset region, the control points may be distributed on feature points whose positions in the preset region are not easily changed and are easy to locate, for example, a window corner point, a ground marking corner point, a flower bed corner point, and the like of a building in the preset region are determined as the control points, the determination of the control points may be determined according to an actual situation, and the embodiments of the present application are not limited. Optionally, further, based on the control points, a part of the control points may be used as points for rectifying the deviation of the collected first point cloud, and another part of the control points may be used as points for checking the accuracy of the collected first point cloud.
After obtaining the first point cloud of the preset area, the evaluating device may determine a flat plane point cloud from the first point cloud at multiple angles, so as to obtain a reference plane based on the determined plane point cloud, and in an optional implementation, the plane point cloud determination condition may be as follows: determining a flat plane point cloud from multiple angles in the first point cloud, wherein the scanning distance between the determined plane point cloud and the laser radar is within a first distance (the first distance can be set according to actual conditions, such as 100 meters and the like), the points are distributed in each ranging section of the laser radar, the point distance of the determined plane point cloud is not less than a distance threshold, and the area is not less than an area threshold. Based on the above-mentioned planar point cloud determination conditions, the embodiments of the present application may determine a plurality of planar point clouds from the first point cloud, thereby determining a reference plane according to the determined planar point clouds; for example, the determined plane point cloud may be directly used as a reference plane in the embodiment of the present application, or the reference plane may be determined after screening. It should be noted that the reference surface in the first point cloud of the preset region determined at one time may be used for multiple laser calibration evaluations for the preset region.
In an optional implementation, fig. 4 shows an optional process of obtaining a reference plane in the first point cloud, which may be performed after determining the plane point cloud from the first point cloud based on the above plane point cloud determining conditions, and obtaining the reference plane through further screening; referring to fig. 4, the process may include:
step S300, determining a plurality of plane point clouds from the first point cloud, wherein the scanning distance between the plane point clouds and the first point cloud is within a first distance, the points of the plane point clouds are distributed in each ranging section corresponding to the first point cloud, the point intervals of the plane point clouds are not smaller than an interval threshold, and the areas of the plane point clouds are not smaller than an area threshold.
Based on the above-mentioned planar point cloud determination conditions, in the embodiment of the present application, a flat planar point cloud may be determined from multiple angles in the first point cloud, and the scanning distance between the planar point cloud and the first point cloud is within a first distance (for example, the scanning distance between the planar point cloud and the ground laser radar is within the first distance), the points of the planar point cloud are distributed in each ranging section corresponding to the first point cloud (for example, the points of the planar point cloud are distributed in each ranging section of the ground laser radar), meanwhile, the point distance between the planar point cloud is not less than a distance threshold, and the area of the planar point cloud is not less than an area threshold. It should be noted that the pitch threshold and the area threshold may be set according to actual situations, and the embodiments of the present application are not limited.
And S310, carrying out plane fitting processing on each determined plane point cloud, deleting the plane point clouds of which the fitted root mean square is greater than a root mean square threshold value, and/or deleting the plane point clouds of which the number is less than a number threshold value, and determining the reserved plane point clouds as a reference plane.
After determining a plurality of plane point clouds from the first point cloud based on step S300, in the embodiment of the present application, a reference plane may be determined according to the determined plane point clouds, for example, the determined plane point clouds are directly determined as the reference plane, and the determined plane point clouds are screened to obtain the reference plane.
In an optional implementation of screening the planar point clouds determined in step S300, for any planar point cloud, the embodiment of the present application may perform planar fitting processing on the planar point cloud (for example, perform planar fitting processing on the planar point cloud using a least square method), and delete the planar point cloud if a Root Mean Square (RMS) of the planar point cloud fitting is greater than a root mean square threshold, that is, the planar point cloud may be retained if the RMS of the planar point cloud fitting is not greater than the root mean square threshold; in another optional implementation, for any plane point cloud, the number of points of the plane point cloud may be determined, and the plane point cloud with the number of points smaller than the number threshold is deleted, that is, if the number of points of the plane point cloud is not smaller than the number threshold, the plane point cloud may be retained in the embodiment of the present application. The screening modes can be used alternatively or in combination, and after the planar point cloud is screened and deleted, the retained planar point cloud can be determined as a reference plane.
Optionally, further, in order to distinguish different reference surfaces, the embodiment of the present application may assign a unique identifier to the reference surface and store the unique identifier.
The method and the device for detecting the point cloud in the wireless sensor network can scan a preset area by using a ground laser radar, so that a first point cloud of the preset area is obtained, and a true value coordinate of a midpoint of the first point cloud is measured by a surveying and mapping means, so that the point in the first point cloud has the true value coordinate; furthermore, the evaluating device can determine flat plane point clouds from the first point clouds in multiple angles according to the collected first point clouds, screen the plane point clouds, determine a reference surface from the first point clouds, enable the determination of the reference surface to be more accurate, and provide a foundation for subsequently improving the accuracy of laser calibration evaluation.
In optional implementation, the embodiment of the application can acquire the second point cloud of the preset area by using the vehicle-mounted mobile laser measuring device, and obtain the calibration coordinate of the midpoint of the second point cloud based on the laser calibration mode of the vehicle-mounted mobile laser measuring device; specifically, the collection vehicle provided with the vehicle-mounted mobile laser measurement equipment can run on a road capable of scanning a preset area, so that in the running process, a laser scanning device of the vehicle-mounted mobile laser measurement equipment can perform single-line or multi-line laser scanning on the preset area, an image collection device can collect image data of the preset area, and a POS (point of sale) can provide positioning position and attitude information and the like;
it should be noted that the driving route of the collection vehicle should follow the following principle: the interference of the inertial navigation error to the laser calibration and evaluation is reduced as much as possible, and the density of the collected point cloud is increased as much as possible; specifically, the collection vehicle can run for multiple times on the same route capable of scanning the preset area, so that the point clouds of the same route are collected for multiple times, and driving behaviors such as parking, turning around, backing, low-speed running and the like of the collection vehicle in the collection process are avoided as much as possible;
furthermore, in order to ensure that the second point cloud acquired by the vehicle-mounted mobile laser measuring device and the first point cloud are within the same system error, the second point cloud may be acquired based on a reference point of a preset area, for example, a base station of the laser scanning device is erected at the reference point; meanwhile, in the process of carrying out point cloud calculation on the second point cloud, the calibration coordinates of the midpoint of the second point cloud can be obtained in a laser calibration mode, and the calibration coordinates of the point of the second point cloud and the true value coordinates of the point of the first point cloud are ensured to be in the same coordinate system.
After the second point cloud with the calibration coordinates of the points is obtained, the evaluation equipment can determine an evaluation surface which belongs to the same plane as the reference surface from the second point cloud, and in optional implementation, the evaluation surface can be a plane point cloud which belongs to the same plane as the reference surface in the second point cloud, the number of the points is not less than a number threshold, and the area is not less than an area threshold; in another optional implementation, in the embodiment of the present application, after determining, from the second point cloud, a plane point cloud which belongs to the same plane as the reference plane, has a point quantity not less than a quantity threshold and an area not less than an area threshold, an evaluation surface is obtained through further screening, optionally, fig. 5 shows an optional process for determining the evaluation surface provided in the embodiment of the present application, as shown in fig. 5, the process may include:
and S400, determining plane point clouds which belong to the same plane as the reference surface from the second point clouds, wherein the number of points is not less than a number threshold, and the area is not less than an area threshold.
Optionally, in the embodiment of the present application, a homonymous surface matched with the reference surface (that is, a planar point cloud in the second point cloud that belongs to the same plane as the reference surface) may be determined from the second point cloud according to the reference surface determined in the first point cloud, because the first point cloud and the second point cloud are different in acquisition manner (the first point cloud is acquired by using a ground laser radar, and the second point cloud is acquired by an acquisition vehicle), each reference surface in the first point cloud may not necessarily be matched with the homonymous surface in the second point cloud, the embodiment of the present application should match the homonymous surfaces as many as possible from the second point cloud based on each reference surface in the first point cloud, and the homonymous surfaces should be respectively on different angles and different ranging segments of the second point cloud.
In an optional implementation, for any reference surface in the first point cloud, the embodiment of the application may determine, from the second point cloud, a plane point cloud that is on the same plane as the reference surface, and has a number of points not less than a number threshold and an area not less than an area threshold, as a homonymous surface of the reference surface; it should be noted that the area of the reference surface and the area of the planar point cloud determined from the second point cloud do not need to be the same, as long as it is ensured that the reference surface and the planar point cloud determined from the second point cloud belong to the same plane, and the requirements that the number of points is not less than the number threshold and the area is not less than the area threshold are met; the reference plane can also be determined from the first point cloud from multiple angles and distributed in different ranging segments of the first point cloud, so that the plane point cloud determined from the second point cloud in the embodiment of the application can also be distributed in different angles and different ranging segments of the second point cloud.
And S410, performing plane fitting processing on the determined plane point cloud, and taking the plane point cloud with the fitted root mean square not greater than a root mean square threshold value as an evaluation surface.
After step S400, determining, from the second point cloud, a plane point cloud that belongs to the same plane as the reference plane, has a number of points not less than a number threshold and an area not less than an area threshold, in this embodiment of the present application, the plane point cloud may be further screened through step S410, optionally, for the plane point cloud determined in step S400, the embodiment of the present application may perform plane fitting processing on the plane point cloud (for example, perform plane fitting processing on the plane point cloud using a least square method), if the root mean square of the plane point cloud fitting is not greater than the root mean square threshold, the plane point cloud may be retained, and if the root mean square of the plane point cloud fitting is greater than the root mean square threshold, after manual confirmation, manually determining whether to delete the plane point cloud.
The method and the device can store the determined evaluation surface, and the evaluation surface and the reference surface have a corresponding relationship, namely the reference surface in the first point cloud can be multiple, and different reference surfaces correspond to different evaluation surfaces in the second point cloud, so that the method and the device can also store the corresponding relationship between the evaluation surface and the reference surface to obtain multiple pairs of the reference surface and the evaluation surface.
After determining a reference surface in the first point cloud and an evaluation surface corresponding to the reference surface in the second point cloud, the evaluation device can determine the distance between the reference surface and the evaluation surface based on the true value coordinates of the points of the reference surface and the calibration coordinates of the points of the evaluation surface, so as to determine the evaluation result of laser calibration based on the distance; in an alternative implementation, fig. 6 shows an alternative flow of determining an evaluation result provided by the embodiment of the present application, and as shown in fig. 6, the flow may include:
and S500, randomly determining a plurality of points from the reference plane and the evaluation plane respectively.
The reference surface and the evaluation surface can be provided with a plurality of pairs, and a pair of the reference surface and the evaluation surface are the reference surface and the evaluation surface which are mutually corresponding, namely the pair of the reference surface and the evaluation surface comprises a reference surface and an evaluation surface which belongs to the same plane with the reference surface; for any pair of reference surface and evaluation surface, the embodiment of the application can randomly determine a plurality of points from the reference surface and the evaluation surface respectively.
Step S510, performing fitting plane processing on the datum plane according to the true value coordinates of the randomly determined points in the datum plane to obtain a plane equation of the datum plane; and performing fitting plane processing on the evaluation surface according to the calibration coordinates of the randomly determined points in the evaluation surface to obtain a plane equation of the evaluation surface.
Optionally, for any pair of the reference surface and the evaluation surface, in the embodiment of the present application, the fitting plane processing may be performed on the reference surface by using a least square method or the like according to the true value coordinates of the randomly determined points in the reference surface, so as to obtain the plane equation of the reference surface, and meanwhile, the fitting plane processing may be performed on the evaluation surface according to the calibration coordinates of the randomly determined points in the evaluation surface, so as to obtain the plane equation of the evaluation surface.
And S520, determining the distance between the reference surface and the evaluation surface according to the plane equation of the reference surface and the plane equation of the evaluation surface.
For any pair of reference surface and evaluation surface, after obtaining a plane equation of the reference surface and a plane equation of the evaluation surface, the embodiment of the application can determine the distance between the reference surface and the evaluation surface based on the plane equation of the reference surface and the plane equation of the evaluation surface, so as to obtain the distance between each pair of reference surface and the evaluation surface; assuming that the reference surface and the evaluation surface are N pairs, the embodiments of the present application can determine the distances between the N pairs of reference surfaces and evaluation surfaces, respectively.
Step S530, determining at least one evaluation index for evaluating the laser calibration based on the distances between the multiple pairs of reference surfaces and the evaluation surface, wherein the at least one evaluation index forms an evaluation result of the laser calibration.
Optionally, after the distances between the multiple pairs of reference surfaces and the evaluation surface are determined, in the embodiment of the application, at least one evaluation index for evaluating the laser calibration may be determined based on the distances between the multiple pairs of reference surfaces and the evaluation surface, where the at least one evaluation index is, for example, at least one of a distance maximum value, a distance median error, a distance average error, and the like, so that an evaluation result of the laser calibration is formed by the at least one evaluation index.
The method and the device can determine at least one evaluation index for evaluating the laser calibration based on the distances between a plurality of pairs of reference surfaces and evaluation surfaces, so that the at least one evaluation index forms an evaluation result of the laser calibration; it should be noted that the maximum distance value, the error in distance, and the average distance error may be considered as optional forms of the evaluation index, and the at least one evaluation index that may be determined in the embodiment of the present application may include at least one of the maximum distance value, the error in distance, and the average distance error; of course, the embodiments of the present application do not limit the use of other forms of evaluation indexes.
In an alternative implementation, fig. 7 shows an example of a process for evaluating laser calibration, and as shown in fig. 7, the process for evaluating laser calibration provided in the embodiment of the present application may involve 8 stages, specifically:
step 1, a calibration area can be selected outdoors as a preset area, a ground laser radar is used for collecting first point cloud of the preset area, and a surveying and mapping means is used for measuring a true value coordinate of a midpoint of the first point cloud;
step 5, randomly determining a plurality of points on the datum plane, and performing plane fitting on the datum plane based on the true value coordinates of the randomly determined points to obtain a plane equation of the datum plane;
stage 6, randomly determining a plurality of points on the evaluation surface, and performing plane fitting on the evaluation surface based on the calibration coordinates of the plurality of points determined randomly to obtain a plane equation of the evaluation surface;
stage 7, calculating the distance between the reference surface and the evaluation surface based on a plane equation of the reference surface and the evaluation surface, thereby obtaining the distances between the reference surfaces and the evaluation surfaces aiming at a plurality of pairs of the reference surfaces and the evaluation surfaces, namely obtaining one distance between one pair of the reference surface and the evaluation surface;
and 8, obtaining the evaluation index calibrated by the laser through statistical calculation based on the distances between the multiple reference surfaces and the evaluation surface.
The method for evaluating the laser calibration provided by the embodiment of the application can be applied to evaluation of single-line laser calibration and also can be applied to evaluation of multi-line laser calibration, and the method can evaluate the laser calibration mode of vehicle-mounted mobile laser measuring equipment installed on a collecting vehicle and improve the accuracy of the laser calibration evaluation; specifically, after the reference surface with the points having the truth coordinates is determined from the first point cloud and the evaluation surface with the points having the calibration coordinates is determined from the second point cloud, the distance can be calculated for the reference surface and the evaluation surface belonging to the same plane, so that the evaluation result of the laser calibration is determined based on the distance, the problem that the evaluation result is inaccurate due to the fact that the corresponding characteristic points are selected from the first point cloud and the second point cloud to evaluate the laser calibration through the truth coordinates and the calibration coordinates of the corresponding characteristic points is solved, and the accuracy of the laser calibration evaluation result is improved; meanwhile, the defects that characteristic points cannot be determined at the point cloud position with far distance measurement and the characteristic point position of the point cloud with far distance cannot be clearly distinguished are avoided, and laser calibration can be comprehensively evaluated on each distance measurement section of the point cloud.
While various embodiments have been described above in connection with what are presently considered to be the embodiments of the disclosure, the various alternatives described in the various embodiments can be readily combined and cross-referenced without conflict to extend the variety of possible embodiments that can be considered to be the disclosed and disclosed embodiments of the disclosure.
The device for evaluating laser calibration described below may be considered as an evaluation device (for example, a vehicle-mounted mobile laser measurement device), and is a functional module that is required to implement the method for evaluating laser calibration provided in the embodiment of the present application. The contents of the apparatus for evaluating laser calibration described below may be referred to in correspondence with the contents of the method for evaluating laser calibration described above.
Optionally, fig. 8 shows an optional block diagram of the apparatus for evaluating laser calibration provided in the embodiment of the present application, and as shown in fig. 8, the apparatus may further include:
the system comprises an acquisition module 100, a calibration module and a processing module, wherein the acquisition module is used for acquiring a reference surface in a first point cloud of a preset area and an evaluation surface which belongs to the same plane with the reference surface in a second point cloud of the preset area, a laser point in the first point cloud has a true value coordinate, and a laser point in the second point cloud has a calibration coordinate obtained through laser calibration;
a distance determining module 110, configured to determine a distance between the reference plane and the evaluation plane according to a true coordinate of a laser point forming the reference plane and a calibration coordinate of a laser point forming the evaluation plane;
and an evaluation result determining module 120, configured to determine an evaluation result of the laser calibration according to a distance between the reference plane and the evaluation plane.
Optionally, the obtaining module 100 is configured to obtain a reference plane in the first point cloud of the preset area, and includes:
determining a plurality of plane point clouds from a first point cloud, wherein the scanning distances of the plane point clouds corresponding to the first point cloud are within a first distance, the points of the plane point clouds are distributed in each ranging section corresponding to the first point cloud, the point intervals of the plane point clouds are not smaller than an interval threshold value, and the areas are not smaller than an area threshold value;
and acquiring a reference surface according to the determined plane point cloud.
Optionally, the obtaining module 100 is configured to obtain the reference plane according to the determined plane point cloud, and includes:
and performing plane fitting processing on each determined plane point cloud, deleting the plane point clouds of which the fitted root mean square is greater than a root mean square threshold value, and/or deleting the plane point clouds of which the number of points is less than a number threshold value, and determining the reserved plane point clouds as a reference plane.
Optionally, the obtaining module 100 is configured to obtain an evaluation surface in the second point cloud of the preset area, where the evaluation surface and the reference surface belong to the same plane, and includes:
determining plane point clouds which belong to the same plane as the reference surface and have the number of points not less than the number threshold and the area not less than the area threshold from the second point clouds;
and performing plane fitting treatment on the determined plane point cloud, and taking the plane point cloud with the fitted root mean square not greater than a root mean square threshold as an evaluation surface.
Optionally, the distance determining module 110 is configured to determine the distance between the reference plane and the evaluation plane according to the true coordinates of the laser points forming the reference plane and the calibration coordinates of the laser points forming the evaluation plane, where the distance determining module is configured to:
respectively and randomly determining a plurality of points from the reference surface and the evaluation surface;
performing fitting plane processing on the datum plane according to the true value coordinates of the randomly determined points in the datum plane to obtain a plane equation of the datum plane; according to the calibration coordinates of the randomly determined points in the evaluation surface, performing fitting plane processing on the evaluation surface to obtain a plane equation of the evaluation surface;
and determining the distance between the reference surface and the evaluation surface according to the plane equation of the reference surface and the plane equation of the evaluation surface.
Optionally, the evaluation result determining module 120 is configured to determine, according to the distance between the reference plane and the evaluation plane, the evaluation result of the laser calibration by:
determining at least one evaluation index for evaluating the laser calibration based on the distances between the multiple pairs of reference surfaces and the evaluation surface, wherein the at least one evaluation index forms an evaluation result of the laser calibration, and the pair of reference surfaces and the evaluation surface comprise a reference surface and an evaluation surface which belongs to the same plane as the reference surface.
Optionally, the evaluation result determining module 120 is configured to determine at least one evaluation index for evaluating the laser calibration based on the distances between the multiple pairs of reference surfaces and the evaluation surface, where the determining includes:
and determining at least one evaluation index of a maximum distance value, a distance error and a distance average error based on the distances between the multiple pairs of reference surfaces and the evaluation surface.
Optionally, the first point cloud of the preset area is collected by a ground laser radar, and the true value coordinate of the laser point in the first point cloud is measured based on the true value coordinate of the reference point in the preset area.
Optionally, the second point cloud of the preset area is collected by a collection vehicle.
The embodiment of the application also provides an evaluating device for evaluating laser calibration, and in optional implementation, the evaluating device can realize the method for evaluating laser calibration provided by the embodiment of the application by loading the device for evaluating laser calibration. Optionally, fig. 9 shows an alternative block diagram of the evaluation device, and as shown in fig. 9, the evaluation device may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;
in the embodiment of the application, the number of the processor 1, the communication interface 2, the memory 3 and the communication bus 4 is at least one, and the processor 1, the communication interface 2 and the memory 3 complete mutual communication through the communication bus 4;
optionally, the communication interface 2 may be an interface of a communication module for performing network communication;
alternatively, the processor 1 may be a CPU (central Processing Unit), a GPU (Graphics Processing Unit), an NPU (embedded neural network processor), an FPGA (Field Programmable Gate Array), a TPU (tensor Processing Unit), an AI chip, an asic (application Specific Integrated circuit), or one or more Integrated circuits configured to implement the embodiments of the present application.
The memory 3 may comprise a high-speed RAM memory and may also comprise a non-volatile memory, such as at least one disk memory.
The memory 3 stores one or more computer-executable instructions, and the processor 1 calls the one or more computer-executable instructions to execute the method for evaluating laser calibration provided by the embodiment of the present application.
Further, the evaluation apparatus provided in the embodiment of the present application may be a vehicle-mounted mobile laser measurement apparatus, and as shown in fig. 1 and fig. 10, the vehicle-mounted mobile laser measurement apparatus may include: POS10, laser scanning device 20, image capture device 30, memory 40, and processor 50; the POS is used for providing absolute pose information, the laser scanning device is used for collecting point clouds in a space, the image collecting device is used for collecting images in the space, the storage stores one or more computer executable instructions, and the processor calls the one or more computer executable instructions to execute the method for evaluating the laser calibration provided by the embodiment of the application.
Further, a storage medium may store one or more computer-executable instructions for executing the method for evaluating laser calibration provided by the embodiments of the present application.
Although the embodiments of the present application are disclosed above, the present application is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present disclosure, and it is intended that the scope of the present disclosure be defined by the appended claims.
Claims (13)
1. A method of evaluating laser calibration, comprising:
acquiring a reference surface in a first point cloud of a preset area and an evaluation surface which belongs to the same plane with the reference surface in a second point cloud of the preset area, wherein laser points in the first point cloud have true value coordinates, and laser points in the second point cloud have calibration coordinates obtained through laser calibration;
determining the distance between the reference surface and the evaluation surface according to the truth value coordinates of the laser points forming the reference surface and the calibration coordinates of the laser points forming the evaluation surface;
and determining the evaluation result of the laser calibration according to the distance between the reference surface and the evaluation surface.
2. The method for evaluating laser calibration according to claim 1, wherein the obtaining a reference plane in the first point cloud of the preset region comprises:
determining a plurality of plane point clouds from a first point cloud, wherein the scanning distances of the plane point clouds corresponding to the first point cloud are within a first distance, the points of the plane point clouds are distributed in each ranging section corresponding to the first point cloud, the point intervals of the plane point clouds are not smaller than an interval threshold value, and the areas are not smaller than an area threshold value;
and acquiring a reference surface according to the determined plane point cloud.
3. The method of evaluating laser calibration according to claim 2, wherein said obtaining a reference plane from the determined planar point cloud comprises:
and performing plane fitting processing on each determined plane point cloud, deleting the plane point clouds of which the fitted root mean square is greater than a root mean square threshold value, and/or deleting the plane point clouds of which the number of points is less than a number threshold value, and determining the reserved plane point clouds as a reference plane.
4. The method for evaluating laser calibration according to claim 1, wherein the obtaining of the evaluation surface belonging to the same plane as the reference surface in the second point cloud of the preset area comprises:
determining plane point clouds which belong to the same plane as the reference surface and have the number of points not less than the number threshold and the area not less than the area threshold from the second point clouds;
and performing plane fitting treatment on the determined plane point cloud, and taking the plane point cloud with the fitted root mean square not greater than a root mean square threshold as an evaluation surface.
5. The method of evaluating laser calibration according to any of claims 1-4, wherein said determining the distance between the reference plane and the evaluation plane based on the truth coordinates of the laser spot constituting the reference plane and the calibration coordinates of the laser spot constituting the evaluation plane comprises:
respectively and randomly determining a plurality of points from the reference surface and the evaluation surface;
performing fitting plane processing on the datum plane according to the true value coordinates of the randomly determined points in the datum plane to obtain a plane equation of the datum plane; according to the calibration coordinates of the randomly determined points in the evaluation surface, performing fitting plane processing on the evaluation surface to obtain a plane equation of the evaluation surface;
and determining the distance between the reference surface and the evaluation surface according to the plane equation of the reference surface and the plane equation of the evaluation surface.
6. The method for evaluating laser calibration according to any one of claims 1-4, wherein determining the evaluation result of the laser calibration according to the distance between the reference plane and the evaluation plane comprises:
determining at least one evaluation index for evaluating the laser calibration based on the distance between the multiple pairs of reference surfaces and the evaluation surface, wherein the at least one evaluation index forms an evaluation result of the laser calibration, and the pair of reference surfaces and the evaluation surface comprises a reference surface and an evaluation surface which belongs to the same plane as the reference surface.
7. The method for evaluating laser calibration according to claim 6, wherein determining at least one evaluation index for evaluating laser calibration based on the distances between the pairs of reference surfaces and the evaluation surface comprises:
and determining at least one evaluation index of the maximum distance, the error in the distance and the average distance error based on the distances between the multiple pairs of reference surfaces and the evaluation surface.
8. The method for evaluating laser calibration according to claim 1, wherein the first point cloud of the preset area is collected by a ground laser radar, and the true coordinates of the laser points in the first point cloud are measured based on the true coordinates of the reference points in the preset area.
9. The method for evaluating laser calibration according to claim 1, wherein the second point cloud of the preset area is collected by a collection vehicle.
10. An apparatus for evaluating laser calibration, comprising:
the system comprises an acquisition module, a calibration module and a processing module, wherein the acquisition module is used for acquiring a reference surface in a first point cloud of a preset area and an evaluation surface which belongs to the same plane with the reference surface in a second point cloud of the preset area, a laser point in the first point cloud has a true value coordinate, and a laser point in the second point cloud has a calibration coordinate obtained through laser calibration;
the distance determining module is used for determining the distance between the reference surface and the evaluation surface according to the true value coordinates of the laser points forming the reference surface and the calibration coordinates of the laser points forming the evaluation surface;
and the evaluation result determining module is used for determining the evaluation result of the laser calibration according to the distance between the reference surface and the evaluation surface.
11. An evaluation device comprising at least one memory storing one or more computer-executable instructions and at least one processor invoking the one or more computer-executable instructions to perform the method of evaluating laser calibration according to any one of claims 1-9.
12. An in-vehicle mobile laser measuring device, comprising: the system comprises a positioning and attitude determining system, a laser scanning device, an image acquisition device, a memory and a processor; the positioning and pose system is configured to provide absolute pose information, the laser scanning device is configured to collect a point cloud of a space, the image collection device is configured to collect an image of the space, the memory stores one or more computer-executable instructions, and the processor invokes the one or more computer-executable instructions to perform the method for evaluating laser calibration according to any of claims 1-9.
13. A storage medium, wherein the storage medium stores one or more computer-executable instructions for performing the method of evaluating laser calibration of any of claims 1-9.
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