CN109901139A - Laser radar scaling method, device, equipment and storage medium - Google Patents
Laser radar scaling method, device, equipment and storage medium Download PDFInfo
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Abstract
The present invention relates to a kind of laser radar scaling method, device, equipment and storage medium, terminal obtains the point cloud data and high data of laser radar to be calibrated in preset calibration scene；And obtain the corresponding map datum of calibration scene；And then according to the point cloud data of laser radar to be calibrated, high data and map datum, position transformational relation is obtained by calibration algorithm；And then according to above-mentioned position transformational relation, the calibration result of laser radar is determined.In the application, terminal is according to the point cloud data of laser radar to be calibrated, high data and map datum, obtain the position transformational relation of laser radar and inertial navigation system automatically by calibration algorithm, and then calibration result is determined according to position transformational relation, so that the calibration result for obtaining laser radar is automatically obtained by calibration algorithm, the process that hand dipping obtains the calibration result of laser radar is avoided, and then improves the calibration efficiency of laser radar.
Description
Technical field
The present invention relates to field of computer technology, more particularly to a kind of laser radar scaling method, device, equipment and
Storage medium.
Background technique
With the development of unmanned technology, the location information of vehicle periphery is usually obtained using onboard sensor, into
And the information detected according to sensor, the vehicle of automatic Pilot is planned, decision or control.
In general, onboard sensor will use multiple sensors to obtain the location information of vehicle periphery.But multiple sensings
It has a certain difference, is needed by by multiple sensors between relative pose (including relative position and direction) between device
Relative pose is demarcated, so that the location information of the collected vehicle periphery of multiple sensors is unified to the same coordinate system
Under, and then according to the location information under the same coordinate system, Vehicular automatic driving is planned, decision or control.It is above-mentioned
The process of calibration refers to obtaining the process of the relative position between multiple sensors.Existing laser radar scaling method is usual
Physical measurement obtains the relative position of laser radar and other sensors by hand, and matching is marked depending on the relative position,
To realize the relative pose between laser radar and other sensors.
Using the above method, laser radar is demarcated by manual physical measurement, especially for high-volume laser
Low efficiency is demarcated in the calibration of radar.
Summary of the invention
Based on this, it is necessary to aiming at the problem that laser radar demarcates low efficiency, provide a kind of laser radar scaling method, dress
It sets, equipment and storage medium.
In a first aspect, a kind of laser radar scaling method, which comprises
In preset calibration scene, the point cloud data and high data of laser radar to be calibrated are obtained；Institute
Stating in calibration scene has target object of reference；
Obtain the corresponding map datum of the calibration scene；
According to the point cloud data of the laser radar to be calibrated, the high data and the map datum,
The position transformational relation of the laser radar and the inertial navigation system is obtained by calibration algorithm；The calibration algorithm is used for
After the point cloud data and the map datum are carried out coordinate system matching, matching result and high data are converted
For the data under same coordinate system；
According to the position transformational relation, the calibration result of laser radar is determined.
It is described in preset calibration scene in one of the embodiments, obtain the point cloud number of laser radar to be calibrated
According to and high data, comprising:
According to data collecting rule, in preset calibration scene, the multiframe point cloud of laser radar to be calibrated is obtained respectively
The multiframe high data of data and inertial navigation system.
The point cloud data according to the laser radar to be calibrated, the inertial navigation in one of the embodiments,
System data and the map datum are turned by the position that calibration algorithm obtains the laser radar and the inertial navigation system
Change relationship, comprising:
The multiframe point cloud data is matched under the corresponding coordinate system of the map datum, multiframe point map cloud number is obtained
According to；
The multiframe point map cloud data are converted under the corresponding coordinate system of the multiframe high data
Point cloud data obtains the position transformational relation of the laser radar and the inertial navigation system.
It is described in one of the embodiments, that the multiframe point cloud data is matched to the corresponding coordinate of the map datum
Under system, multiframe map point cloud data is obtained, comprising:
The point cloud data is matched under the corresponding coordinate system of the map datum by cloud algorithm, obtains point map
Cloud data；Described cloud algorithm includes ICP algorithm, and/or, NDT algorithm.
It is described in one of the embodiments, that the multiframe point map cloud data are converted into multiframe inertial navigation system
Point cloud data under the corresponding coordinate system of data of uniting, the position conversion for obtaining the laser radar and the inertial navigation system are closed
System, comprising:
According to the multiframe inertial navigation data and the multiple relative pose equations of multiframe point map cloud data list；
Wherein, the high data in a frame map point cloud data and same frame constitutes one group of data, every group of data corresponding one
A relative pose equation；
According to each relative pose equation and the corresponding one group of data of the relative pose equation, the opposite position is calculated
Position conversion parameter in appearance equation, to obtain multiple position conversion parameters；
The position transformational relation is determined according to multiple position conversion parameters and multiple relative pose equations.
It is described in one of the embodiments, to determine institute according to multiple position conversion parameters and multiple relative pose equations
Rheme sets transformational relation, comprising:
Multiple relative pose equations are added up using least square method, obtain target relative pose equation；
Multiple relative position conversion parameters are concluded by enumeration, obtains and obtains target position conversion parameter；
Target position conversion parameter is substituted into the target relative pose equation, obtains the position transformational relation.
It is described in one of the embodiments, that the calibration result of laser radar is determined according to the position transformational relation, packet
It includes:
The position transformational relation is determined as to the calibration result of the laser radar；
Alternatively,
The position transformational relation is visualized, and the result after visualization is determined as to the mark of the laser radar
Determine result.
The target object of reference is the letter so that the laser radar and inertial navigation system in one of the embodiments,
After number by the target object of reference, reflected signal strength is greater than the object of reference of preset threshold.
The preset calibration scene is according to the laser radar, the inertial navigation in one of the embodiments,
The scene that the type of system and the type of the target object of reference determine.
Second aspect, a kind of laser radar caliberating device, described device include:
First obtains module, in preset calibration scene, obtaining the point cloud data of laser radar to be calibrated and being used to
Property guidance system data；There is target object of reference in the calibration scene；
Second obtains module, for obtaining the corresponding map datum of the calibration scene；
Conversion module, for according to the point cloud data of the laser radar to be calibrated, the high data and
The map datum is closed by the position conversion that the first calibration algorithm obtains the laser radar and the inertial navigation system
System；After first calibration algorithm is used to the point cloud data and the map datum carrying out coordinate system matching, matching is tied
Fruit and high data are converted to the data under same coordinate system；
Demarcating module, for determining the calibration result of laser radar according to the position transformational relation.
The third aspect, a kind of computer equipment, including memory and processor, the memory are stored with computer journey
Sequence, the processor execute method and step described in above-mentioned laser radar scaling method.
Fourth aspect, a kind of computer readable storage medium are stored thereon with computer program, the computer program quilt
Processor realizes method and step described in above-mentioned laser radar scaling method when executing.
Above-mentioned laser radar scaling method, device, equipment and storage medium, terminal obtain in preset calibration scene
The point cloud data and high data of laser radar to be calibrated, wherein there is target object of reference in calibration scene；And it obtains
Take the corresponding map datum of calibration scene；And then according to the point cloud data of laser radar to be calibrated, high data and
Map datum, the position transformational relation of laser radar and inertial navigation system is obtained by calibration algorithm, and above-mentioned calibration algorithm is used
After point cloud data and map datum are carried out coordinate system matching, matching result is converted to high data identical
Data under coordinate system；And then according to position transformational relation, the calibration result of laser radar is determined.In the application, terminal according to
Point cloud data, high data and the map datum of laser radar to be calibrated, obtain laser by calibration algorithm automatically
The position transformational relation of radar and inertial navigation system, and then automatically determine according to position transformational relation the calibration knot of laser radar
Fruit avoids the process that hand dipping obtains the calibration result of laser radar, and then improves the calibration efficiency of laser radar.
Detailed description of the invention
Fig. 1 is the schematic diagram for the laser radar Analysis environment that one embodiment provides；
Fig. 2 is the flow diagram of laser radar scaling method in one embodiment；
Fig. 3 is the flow diagram of laser radar scaling method in another embodiment；
Fig. 4 is the flow diagram of laser radar scaling method in another embodiment；
Fig. 5 is the flow diagram of laser radar scaling method in another embodiment；
Fig. 6 is the flow diagram of laser radar scaling method in another embodiment；
Fig. 7 is the structural schematic diagram for the laser radar caliberating device that one embodiment provides；
Fig. 8 is the structural schematic diagram for the laser radar caliberating device that another embodiment provides；
Fig. 9 is the structural schematic diagram for the laser radar caliberating device that another embodiment provides；
Figure 10 is the internal structure chart for the calculating knot equipment that one embodiment provides.
Specific embodiment
With the development of unmanned technology, the location information of vehicle periphery is usually obtained using onboard sensor, into
And the information detected according to sensor, automatic driving vehicle is planned, decision or control.In general, onboard sensor
Multiple sensors be will use to obtain the location information of vehicle periphery.But relative pose (including the phase between multiple sensors
To position and orientation) between have a certain difference, need by demarcating the relative pose of multiple sensors, so that more
Under the location information unification to the same coordinate system of a collected vehicle periphery of sensor, and then according in the same coordinate system
Lower location information is planned the vehicle of automatic Pilot, decision or control.The process of above-mentioned calibration refers to obtaining multiple
The process of relative position between sensor.Laser radar scaling method, device, equipment and storage medium provided by the present application,
The problem of aiming to solve the problem that calibration low efficiency.
It should be noted that the method for laser radar calibration provided by the embodiments of the present application, can be applied not only to nobody
In the scene of driving, it can also be applied in the scene of robot navigation, the embodiment of the present application does not do specific application scenarios
Limitation.
Laser radar scaling method provided in this embodiment, can be adapted in application environment as shown in Figure 1.Such as Fig. 1
Shown, laser radar 10 and inertial navigation system 20 may be mounted at any position of vehicle, pass through acquisition by calibration algorithm
Relative position information between laser radar 10 and inertial navigation system 20, to determine the calibration result of laser radar.
It should be noted that laser radar scaling method provided by the embodiments of the present application, executing subject can be laser
The device of Radar Calibration, the device can be implemented as laser radar mark by way of software, hardware or software and hardware combining
Fixed computer equipment it is some or all of.
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.
Fig. 2 is the flow diagram of laser radar scaling method in one embodiment.What is involved is pass through mark for the present embodiment
Determine the position transformational relation that algorithm obtains laser radar and inertial navigation system automatically, and then automatic according to the position transformational relation
Determine the detailed process of the calibration result of laser radar.As shown in Fig. 2, method includes the following steps:
S101, in preset calibration scene, obtain the point cloud data and inertial navigation system number of laser radar to be calibrated
According to；Demarcating has target object of reference in scene.
Specifically, target object of reference can be the object of reference for making laser radar form good point cloud imaging characteristic, target ginseng
It can be an object of reference according to object, be also possible to multiple objects of reference, the embodiment of the present application is without limitation.For example, target is joined
It can be a straight, continuous wall or road tooth according to object.Preset calibration scene can be comprising target object of reference, and can make
The scene that inertial navigation system normally positions is obtained, can be the outdoor crossroad that roadside has continuous, straight metope；Roadside
L shape route with continuous, straight metope；There is the outdoor crossroad neatly built in roadside；There is the L shape road neatly built in roadside
Line；There are non-perpendicular crossing or the L shape route for the typical target that meets the requirements in roadside；There is the parking lot for the typical target that meets the requirements in roadside
Or the combine scenes that any one of vacant lot or several scenes are formed.For example, it is one that preset calibration scene, which may include,
Straight, continuous road tooth, and inertial navigation system can normal connecting global positioning system (Global Positioning
System, GPS), the scene that inertial navigation system is normally positioned.Point cloud data can be laser radar signal irradiation
When to body surface, the reflection signal of the information such as carrying orientation, distance for being reflected may include multiple points in point cloud data
The strength information of location information and corresponding reflection laser radar signal.
In preset calibration scene, the process of the point cloud data of laser radar specifically is being obtained, can be by swashing
Optical radar sends radar signal, the point cloud data of acquisition to target object of reference；It is also possible to through laser radar to target reference
Object sends laser radar signal, after the reflection signal of acquisition, first carries out a cloud cluster operation to the reflection signal, it is flat to obtain space
Equal point cloud data, and then noise reduction process, the point cloud data of acquisition are carried out to the point cloud data of space average；The embodiment of the present application
It is without limitation.
S102, the corresponding map datum of calibration scene is obtained.
Specifically, the corresponding map datum of calibration scene can be high-precision map datum, which may include more
The location information of a point and corresponding image information.In the corresponding map datum of specific acquisition calibration scene, can be
By the corresponding map datum of calibration scene stored in server download server, be also possible to by camera or other
Device obtains the corresponding map datum of calibration scene in real time, and the embodiment of the present application is without limitation.
S103, according to the point cloud data of laser radar to be calibrated, high data and map datum, pass through calibration
The position transformational relation of algorithm acquisition laser radar and inertial navigation system；Calibration algorithm is used for point cloud data and map datum
After carrying out coordinate system matching, matching result and high data are converted into the data under same coordinate system.
Specifically, after calibration algorithm can be used for point cloud data and map datum carrying out coordinate system matching, matching is tied
Fruit and high data are converted to the data under same coordinate system, can be the point cloud number of laser radar to be calibrated
According to the algorithm for being converted to the data under the corresponding coordinate system of high data, it can also be and turn high data
The algorithm for turning to the data under the corresponding coordinate system of point cloud data of laser radar to be calibrated, can also be laser to be calibrated
The point cloud data and high data of radar are transformed into the algorithm of the data under third party's coordinate system, the embodiment of the present application
It is without limitation.Position transformational relation can be the corresponding coordinate system of laser radar to be calibrated, corresponding with inertial navigation system
Coordinate system between transformational relation.
It on the basis of the above embodiments, can target reference in the point cloud data by establishing laser radar to be calibrated
Transformational relation between the location information of target object of reference in the location information and high data of object, determining should
Position transformational relation.The location information of target object of reference in the point cloud data for specifically establishing laser radar to be calibrated,
When transformational relation between the location information of the target object of reference in high data, it can be and enumerate coordinate system and turn
Equation is changed, determines position transformational relation；It is also possible to choose coordinates of targets conversion side by enumerating multiple coordinate transfer equations
Journey determines position transformational relation；The embodiment of the present application is without limitation.
S104, according to position transformational relation, determine the calibration result of laser radar.
Specifically, the calibration result of laser radar can be relative position between laser radar and inertial navigation system.On
On the basis of stating embodiment, specifically according to position transformational relation, during the calibration result for determining laser radar, true
After having determined position transformational relation, it is alternatively possible to which position transformational relation to be determined as to the calibration result of laser radar；Alternatively, will
Position transformational relation is visualized, and the result after visualization is determined as to the calibration result of laser radar；The application is implemented
Example is without limitation.
Above-mentioned laser radar scaling method, terminal obtain the point cloud of laser radar to be calibrated in preset calibration scene
Data and high data, wherein there is target object of reference in calibration scene；And obtain the corresponding map of calibration scene
Data；And then according to the point cloud data of laser radar to be calibrated, high data and map datum, pass through calibration algorithm
The position transformational relation of laser radar and inertial navigation system is obtained, above-mentioned calibration algorithm is used for point cloud data and map datum
After carrying out coordinate system matching, matching result and high data are converted into the data under same coordinate system；And then root
According to position transformational relation, the calibration result of laser radar is determined.In the present embodiment, terminal is according to the point cloud of laser radar to be calibrated
Data, high data and map datum obtain laser radar and inertial navigation system by calibration algorithm automatically
Position transformational relation, and then the calibration result of laser radar is automatically determined according to position transformational relation, it avoids hand dipping and obtains
The process of the calibration result of laser radar is obtained, and then improves the calibration efficiency of laser radar.
Optionally, target object of reference is so that the signal of laser radar transmitting is by the way that after target object of reference, reflection signal is strong
Degree is greater than the object of reference of preset threshold.
Specifically, target object of reference is so that the signal of laser radar transmitting is by the way that after target object of reference, reflection signal is strong
Degree is greater than the object of reference of preset threshold.After preset threshold may be such that the signal of laser radar transmitting passes through target object of reference,
The signal strength of the laser radar signal of reflection is greater than the minimum radar signal strength that laser radar can identify；Preset threshold is also
It can be when target object of reference is multiple objects of reference, so that multiple reflection signals that laser radar is obtained by multiple objects of reference
Between do not interfere with each other multiple objects of reference position setting.
Optionally, preset calibration scene is true according to the type of laser radar, inertial navigation system and target object of reference
Fixed scene.
Specifically, preset calibration scene can be ambient enviroment and not cause significant signal interference to target object of reference
Scene.In preset calibration scene, laser radar passes through the signal acquisition laser radar to be calibrated that target object of reference is reflected back
Point cloud data.Inertial navigation system obtains the location information of the ambient enviroment in GPS signal, i.e., by connecting with GPS in real time
When the corresponding location information of multiple points.For example, being the point for obtaining laser radar to be calibrated by laser signal according to laser radar
Cloud data, since angle scatterer has good scattering properties, the corresponding target object of reference of laser radar to laser signal
It can be angle scatterer；Inertial navigation system is to obtain high data according to reception GPS signal, therefore inertia is led
Boat system needs spacious place, so that GPS signal is not by external environmental interference.In turn, can according to laser radar to be calibrated,
The type of inertial navigation system and target object of reference, determining that preset calibration scene is is not pass through angle scatterer to laser radar
The signal of return causes significant electromagnetic interference, and inertial navigation system is enabled accurately to receive the outdoor sports of GPS signal.
On the basis of the above embodiments, above-mentioned S101 " in preset calibration scene, obtains laser radar to be calibrated
Point cloud data and high data；Demarcating has target object of reference in scene ", it can be divided by data collecting rule
The multiframe point cloud data of laser radar to be calibrated and the multiframe high data of inertial navigation system are not obtained, it is above-mentioned
S101 " in preset calibration scene, obtains the point cloud data and high data of laser radar to be calibrated；Calibration Field
There is target object of reference in scape ", a kind of possible implementation includes: according to data collecting rule, in preset calibration scene
It is interior, the multiframe point cloud data of laser radar to be calibrated and the multiframe inertial navigation system number of inertial navigation system are obtained respectively
According to.
Specifically, data collecting rule can be expression by target object of reference, obtain the point cloud of laser radar to be calibrated
Data, the point cloud data of acquisition multiframe laser radar to be calibrated that can be static, the acquisition multiframe for being also possible to movement wait marking
Determine the point cloud data of laser radar, the embodiment of the present application is without limitation.Specifically according to data collecting rule, passing through mesh
When mark object of reference obtains the point cloud data of multiframe laser radar to be calibrated respectively, it can be the carrier where laser radar, place
When halted state, the point cloud data of multiframe laser radar to be calibrated is obtained；It is also possible to above-mentioned carrier in slow driving status
When, obtain the point cloud data of multiframe laser radar to be calibrated；The embodiment of the present application is without limitation.Above-mentioned carrier can be certainly
It is dynamic to drive vehicle, assist driving vehicle or robot, the embodiment of the present application without limitation.
Fig. 3 is the flow diagram of laser radar scaling method in another embodiment.What is involved is bases for the present embodiment
The point cloud data and map datum of laser radar to be calibrated obtain map point cloud data, and then point cloud data and inertia according to the map
Guidance system data obtains the detailed process of position transformational relation.As shown in figure 3, above-mentioned S103 is " according to laser radar to be calibrated
Point cloud data, high data and map datum, pass through calibration algorithm and obtain laser radar and inertial navigation system
Position transformational relation " a kind of possible implementation the following steps are included:
S201, multiframe point cloud data is matched under the corresponding coordinate system of map datum, obtains multiframe map point cloud data.
Specifically, map point cloud data can be to project the point cloud data of laser radar to be calibrated to map datum and correspond to
Coordinate system under the point cloud data that obtains.Specifically multiframe point cloud data is matched under the corresponding coordinate system of map datum, is obtained
During multiframe map point cloud data, the point cloud data of every frame laser radar to be calibrated can be matched to map datum respectively
In, obtain multiframe map point cloud data；It is also possible to the point cloud number of multiframe laser radar to be calibrated that will be obtained in synchronization
According to cumulative mean is carried out, so that the signal strength of each position adds up, and according to the frame of point cloud data under the synchronization
Number, the point cloud data after obtaining averagely；Likewise, obtain it is multiple other when inscribe it is average after point cloud data, and then will be more
Point cloud data after frame is average is matched under the corresponding coordinate system of map datum, obtains multiframe map point cloud data.
Optionally, point cloud data is matched under the corresponding coordinate system of map datum by cloud algorithm, obtains point map
Cloud data；Point cloud algorithm includes ICP algorithm, and/or, NDT algorithm.
Specifically, iteration closest approach (Iterative Closest Point, ICP) algorithm can be a kind of surface fitting
Algorithm, the algorithm are the point sets based on quaternary number to point set method for registering.It concentrates from measurement point and to determine that its is corresponding with regard near point
After point set, the new point set with regard near point is calculated.It is iterated calculating with this method, until the target letter that residual sum of squares (RSS) is constituted
Numerical value is constant, terminates iterative process.Normal distribution transform (Normal Distribution Transform, NDT) algorithm can be with
Applied to the statistical model of three-dimensional point, standard optimization techniques can be used to determine optimal between two clouds
Match, do not utilize the feature calculation and matching of corresponding points in registration process, match time is short.For example, can be by a cloud number
Determine that it after the corresponding point set with regard near point, calculates new nearest point cloud data point set, and to upper in map datum according to concentrating
The process of stating is iterated calculating, until the target function value that residual sum of squares (RSS) is constituted is constant, terminates iterative process, obtains map
Point cloud data.
S202, multiframe point map cloud data are converted to point cloud under the corresponding coordinate system of multiframe high data
Data obtain the position transformational relation of laser radar and inertial navigation system.
It specifically, on the basis of the above embodiments, can be same by synchronization after obtaining multiframe map point cloud data
The point map cloud data of position acquisition are transformed under the corresponding coordinate system of corresponding high data.Specifically will be more
Frame point map cloud data are converted to the point cloud data under the corresponding coordinate system of multiframe high data, obtain laser radar
With the position transformational relation of inertial navigation system, it can be by enumerating coordinate system transfer equation, determine position transformational relation；?
It can be by enumerating multiple coordinate transfer equations, choose coordinates of targets transfer equation, determine position transformational relation；The application is real
It is without limitation to apply example.
Multiframe point cloud data is matched under the corresponding coordinate system of map datum by above-mentioned laser radar scaling method, terminal,
Multiframe map point cloud data is obtained, and multiframe point map cloud data are converted into the corresponding coordinate of multiframe high data
Point cloud data under system obtains the position transformational relation of laser radar and inertial navigation system.In the present embodiment, terminal pass through by
Multiframe point cloud data is matched under the corresponding coordinate system of map datum, obtains multiframe map point cloud data, and by the multiframe map
Point cloud data is converted to the point cloud data under the corresponding coordinate system of multiframe high data, and terminal is obtained automatically
The position transformational relation of laser radar and inertial navigation system is taken, and then according to the position transformational relation, and then is turned according to position
The relationship of changing determines the calibration result of laser radar, so that the calibration result for obtaining laser radar automatically obtains, avoids hand
Work measurement obtains the process of the calibration result of laser radar, and then improves the calibration efficiency of laser radar.
On the basis of the above embodiments, terminal can point cloud data according to laser radar to be calibrated, inertial navigation system
Data of uniting and map datum obtain the position transformational relation of laser radar and inertial navigation system by calibration algorithm.Lead to below
Fig. 4 is crossed the detailed process how terminal obtains according to calibration algorithm position transformational relation automatically is described in detail.Above-mentioned S202 " will
Multiframe point map cloud data are converted to the point cloud data under the corresponding coordinate system of multiframe high data, obtain laser thunder
Up to the position transformational relation with inertial navigation system " a kind of possible implementation the following steps are included:
S301, according to multiframe high data and the multiple relative pose sides of multiframe point map cloud data list
Journey；Wherein, the high data in a frame map point cloud data and same frame constitutes one group of data, and every group of data are corresponding
One relative pose equation.
Specifically, relative pose equation can be according to inertial navigation system number in a frame map point cloud data and same frame
According to acquisition coordinate transfer equation.High data constitutes one group of data in one frame map point cloud data and same frame, should
One group of data can be the frame map point cloud data and a frame high data in the acquisition of synchronization same position,
Constitute one group of data in same frame.Specifically arranged according to multiframe high data and multiframe map point cloud data
During lifting multiple relative pose equations, each frame map point cloud data corresponds to a high data.Wherein
Map point cloud data is different from the expression way of coordinate information in high data, can enumerate relative pose equation,
Laser radar data and other sensors data are unified for a kind of expression way.
S302, according to the corresponding one group of data of each relative pose equation and relative pose equation, calculate relative pose
Position conversion parameter in equation, to obtain multiple position conversion parameters.
Specifically, each relative pose equation has corresponded to chart portfolio point cloud data and high data, by this
Group map point cloud data and high data substitute into its corresponding relative pose equation, and the relative pose side is calculated
Position conversion parameter in journey.Wherein point map cloud data include multiframe map point cloud data, and high data includes
Multiframe high data, multiframe map point cloud data distinguish corresponding multiframe inertial navigation system and form multiple groups number
According to multi-group data is substituted into its corresponding relative pose equation respectively, passes through to calculate and obtains multiple position conversion parameters.
S303, position transformational relation is determined according to multiple position conversion parameters and multiple relative pose equations.
Specifically, on the basis of the above embodiments, after obtaining multiple position conversion parameters, can be joined according to multiple positions
Number determines position transformational relation with its corresponding multiple relative pose equation, can be and first determines a target relative pose side
Journey, then target position conversion parameter is obtained, and then position is determined according to target relative position equation and target position conversion parameter
Transformational relation.
Optionally, above-mentioned S303 " determines that position is converted according to multiple position conversion parameters and multiple relative pose equations
A kind of possible implementation method of relationship ", is included the steps that in embodiment as shown in Figure 5:
S401, multiple relative pose equations are added up using least square method, obtains target relative pose equation.
Specifically, the thinking that can use least square method, multiple relative pose equations is added up, to be reduced
The error of opposite azimuth equation, the optimal function that data can be found by minimizing the quadratic sum of error match.The present embodiment
In, multiple relative pose equations can be added up, to obtain the best relative pose equation minimized the error, as target
Relative pose equation.
S402, multiple relative position conversion parameters are concluded by enumeration, obtains and obtains target position conversion
Parameter.
Specifically, position conversion parameter may include multiple parameters, can first be determined in multiple parameters by enumeration
Partial parameters other parameters are concluded further according to partial parameters, obtain target position conversion parameter.For example, position turns
Changing parameter may include a, b, c, d, e, six parameters of f, it is first determined the specific value of tri- parameters of a, b, c, and then according to a,
Tri- parameter values of b, c, the multiple d of exhaustion, the numerical value of e, f choose multiple d of exhaustion, and the numerical value of e, f meet the numerical value of preset requirement
For d, the parameter value of e, f.And then according to a, b, c, d, e, six parameter values of f determine position conversion parameter.
S403, target position conversion parameter is substituted into the target relative pose equation, obtains the position transformational relation.
Above-mentioned laser radar scaling method, terminal is according to multiframe high data and multiframe map point cloud data
Multiple relative pose equations are enumerated, and according to the corresponding one group of data of each relative pose equation and relative pose equation, meter
The position conversion parameter in relative pose equation is calculated, to obtain multiple position conversion parameters, and then is converted and is joined according to multiple positions
Several and multiple relative pose equations determine position transformational relation.In the present embodiment, terminal is by enumerating multiple relative pose sides
Journey obtains multiple position conversion parameters, and then determines that position turns according to multiple relative pose equations and multiple position conversion parameters
Relationship is changed, so that the calibration result for obtaining laser radar is automatically obtained by calibration algorithm, avoids hand dipping acquisition
The process of the calibration result of laser radar, and then improve calibration efficiency.
Fig. 6 is the flow chart of laser radar scaling method in another embodiment, as shown in fig. 6, in above-described embodiment
On the basis of, a kind of laser radar scaling method includes:
S501, the multiframe of laser radar to be calibrated is obtained in preset calibration scene according to data collecting rule respectively
The multiframe high data of point cloud data and inertial navigation system.
S502, point cloud data is matched under the corresponding coordinate system of map datum by cloud algorithm, obtains point map cloud
Data；Point cloud algorithm includes ICP algorithm, and/or, NDT algorithm.
S503, according to multiframe inertial navigation data and the multiple relative pose equations of multiframe point map cloud data list；Its
In, the high data in a frame map point cloud data and same frame constitutes one group of data, and every group of data are one corresponding
Relative pose equation.
S504, according to the corresponding one group of data of each relative pose equation and relative pose equation, calculate relative pose
Position conversion parameter in equation, to obtain multiple position conversion parameters.
S505, multiple relative pose equations are added up using least square method, obtains target relative pose equation.
S506, multiple relative position conversion parameters are concluded by enumeration, obtains and obtains target position conversion
Parameter.
S507, target position conversion parameter is substituted into target relative pose equation, obtains position transformational relation.
The technology of embodiment corresponding to the technical effect of laser radar scaling method and above-described embodiment in the present embodiment
Effect is similar, and details are not described herein.
It should be understood that although each step in the flow chart of Fig. 2-6 is successively shown according to the instruction of arrow,
These steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly stating otherwise herein, these steps
Execution there is no stringent sequences to limit, these steps can execute in other order.Moreover, at least one in Fig. 2-6
Part steps may include that perhaps these sub-steps of multiple stages or stage are not necessarily in synchronization to multiple sub-steps
Completion is executed, but can be executed at different times, the execution sequence in these sub-steps or stage is also not necessarily successively
It carries out, but can be at least part of the sub-step or stage of other steps or other steps in turn or alternately
It executes.
Fig. 7 is the structural schematic diagram for the laser radar caliberating device that one embodiment provides.As shown in fig. 7, laser radar
Caliberating device, comprising: first, which obtains module 10, second, obtains module 20, conversion module 30 and demarcating module 40, in which:
First obtains module 10, in preset calibration scene, obtain laser radar to be calibrated point cloud data and
High data；There is target object of reference in the calibration scene；
Second obtains module 20, for obtaining the corresponding map datum of the calibration scene；
Conversion module 30, for the point cloud data according to the laser radar to be calibrated, the high data
With the map datum, closed by the position conversion that the first calibration algorithm obtains the laser radar and the inertial navigation system
System；After first calibration algorithm is used to the point cloud data and the map datum carrying out coordinate system matching, matching is tied
Fruit and high data are converted to the data under same coordinate system；
Demarcating module 40, for determining the calibration result of laser radar according to the position transformational relation.
In one embodiment, the first acquisition module 10 is specifically used for according to data collecting rule, in preset Calibration Field
In scape, the multiframe point cloud data of laser radar to be calibrated and the multiframe inertial navigation system number of inertial navigation system are obtained respectively
According to.
Laser radar caliberating device provided by the embodiments of the present application, can execute above method embodiment, realization principle
Similar with technical effect, details are not described herein.
Fig. 8 is the structural schematic diagram for the laser radar caliberating device that another embodiment provides, embodiment shown in Fig. 7
On the basis of, conversion module 30 includes: matching unit 301 and converting unit 302, in which:
Matching unit 301 is obtained for the multiframe point cloud data to be matched under the corresponding coordinate system of the map datum
Obtain multiframe point map cloud data；
Converting unit 302, for the multiframe point map cloud data to be converted to the multiframe high data
Point cloud data under corresponding coordinate system obtains the position transformational relation of the laser radar and the inertial navigation system.
In one embodiment, matching unit 301 is specifically used for that the point cloud data is matched to institute by point cloud algorithm
It states under the corresponding coordinate system of map datum, obtains map point cloud data；Described cloud algorithm includes ICP algorithm, and/or, NDT is calculated
Method.
Fig. 9 is the structural schematic diagram for the laser radar caliberating device that another embodiment provides, real shown in Fig. 7 or Fig. 8
On the basis of applying example, converting unit 302, comprising: it enumerates subelement 3021, conversion subunit 3022 and determines subelement 3023,
Wherein:
Subelement 3021 is enumerated, for arranging according to the multiframe inertial navigation data and the multiframe map point cloud data
Lift multiple relative pose equations；Wherein, the high data in a frame map point cloud data and same frame constitutes one group
Data, the corresponding relative pose equation of every group of data；
Conversion subunit 3022, for one group corresponding according to each relative pose equation and the relative pose equation
Data calculate the position conversion parameter in the relative pose equation, to obtain multiple position conversion parameters；
Subelement 3023 is determined, for determining institute's rheme according to multiple position conversion parameters and multiple relative pose equations
Set transformational relation.
In one embodiment, determine that subelement 3023 is specifically used for multiple relative pose equations using least square method
It adds up, obtains target relative pose equation；Multiple relative position conversion parameters are concluded by enumeration, are obtained
Obtain target position conversion parameter；Target position conversion parameter is substituted into the target relative pose equation, obtains the position
Transformational relation.
In one embodiment, the position transformational relation is determined as to the calibration result of the laser radar；Alternatively, will
The position transformational relation is visualized, and the result after visualization is determined as to the calibration result of the laser radar.
In one embodiment, the target object of reference is so that the signal of laser radar transmitting passes through the target
After object of reference, reflected signal strength is greater than the object of reference of preset threshold.
In one embodiment, the preset calibration scene is according to the laser radar, the inertial navigation system
Type and the target object of reference type determine scene.
Laser radar caliberating device provided by the embodiments of the present application, can execute above method embodiment, realization principle
Similar with technical effect, details are not described herein.
A kind of specific restriction about laser radar caliberating device may refer to above for laser radar scaling method
Restriction, details are not described herein.Modules in above-mentioned laser radar caliberating device can be fully or partially through software, hardware
And combinations thereof realize.Above-mentioned each module can be embedded in the form of hardware or independently of in the processor in computer equipment,
It can be stored in a software form in the memory in computer equipment, execute the above modules pair in order to which processor calls
The operation answered.
In one embodiment, a kind of computer equipment is provided, which can be terminal, internal structure
Figure can be as shown in Figure 10.The computer equipment includes the processor connected by system bus, memory, network interface, shows
Display screen and input unit.Wherein, the processor of the computer equipment is for providing calculating and control ability.The computer equipment
Memory includes non-volatile memory medium, built-in storage.The non-volatile memory medium is stored with operating system and computer
Program.The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.The meter
The network interface for calculating machine equipment is used to communicate with external terminal by network connection.When the computer equipment is executed by processor
To realize a kind of laser radar scaling method.The display screen of the computer equipment can be liquid crystal display or electric ink is aobvious
Display screen, the input unit of the computer equipment can be the touch layer covered on display screen, be also possible to computer equipment shell
Key, trace ball or the Trackpad of upper setting can also be external keyboard, Trackpad or mouse etc..
It will be understood by those skilled in the art that structure shown in Figure 10, only part relevant to disclosure scheme
The block diagram of structure, does not constitute the restriction for the computer equipment being applied thereon to disclosure scheme, and specific computer is set
Standby may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
In one embodiment, a kind of computer equipment, including memory and processor are provided, is stored in memory
Computer program, the processor perform the steps of when executing computer program
In preset calibration scene, the point cloud data and high data of laser radar to be calibrated are obtained；Institute
Stating in calibration scene has target object of reference；
Obtain the corresponding map datum of the calibration scene；
According to the point cloud data of the laser radar to be calibrated, the high data and the map datum,
The position transformational relation of the laser radar and the inertial navigation system is obtained by calibration algorithm；The calibration algorithm is used for
After the point cloud data and the map datum are carried out coordinate system matching, matching result and high data are converted
For the data under same coordinate system；
According to the position transformational relation, the calibration result of laser radar is determined.
In one embodiment, it also performs the steps of when processor executes computer program according to data collecting rule,
In preset calibration scene, the multiframe point cloud data of laser radar to be calibrated and the multiframe of inertial navigation system are obtained respectively
High data.
In one embodiment, it also performs the steps of when processor executes computer program by the multiframe point cloud number
According to being matched under the corresponding coordinate system of the map datum, multiframe map point cloud data is obtained；By the multiframe point map cloud number
According to the point cloud data be converted under the corresponding coordinate system of the multiframe high data, the laser radar and institute are obtained
State the position transformational relation of inertial navigation system.
In one embodiment, it is also performed the steps of institute when processor executes computer program through cloud algorithm
It states point cloud data to be matched under the corresponding coordinate system of the map datum, obtains map point cloud data；Described cloud algorithm include
ICP algorithm, and/or, NDT algorithm.
In one embodiment, it also performs the steps of when processor executes computer program according to the multiframe inertia
Navigation data and the multiple relative pose equations of multiframe point map cloud data list；Wherein, a frame map point cloud data with
High data in same frame constitutes one group of data, the corresponding relative pose equation of every group of data；According to each
Relative pose equation and the corresponding one group of data of the relative pose equation, the position calculated in the relative pose equation turn
Parameter is changed, to obtain multiple position conversion parameters；Institute is determined according to multiple position conversion parameters and multiple relative pose equations
Rheme sets transformational relation.
In one embodiment, it also performs the steps of when processor executes computer program by multiple relative pose sides
Cheng Caiyong least square method adds up, and obtains target relative pose equation；Multiple relative positions are converted by enumeration
Parameter is concluded, and is obtained and is obtained target position conversion parameter；Target position conversion parameter is substituted into the target relative pose
Equation obtains the position transformational relation.
In one embodiment, it also performs the steps of to convert the position when processor executes computer program and close
System is determined as the calibration result of the laser radar；Alternatively, the position transformational relation is visualized, and will be after visualization
Result be determined as the calibration result of the laser radar.
In one embodiment, the target object of reference is so that the signal of laser radar transmitting passes through the target
After object of reference, reflected signal strength is greater than the object of reference of preset threshold.
In one embodiment, the preset calibration scene is according to the laser radar, the inertial navigation system
Type and the target object of reference type determine scene.
Computer equipment provided in this embodiment, implementing principle and technical effect are similar with above method embodiment,
This is repeated no more.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program performs the steps of when being executed by processor
In preset calibration scene, the point cloud data and high data of laser radar to be calibrated are obtained；Institute
Stating in calibration scene has target object of reference；
Obtain the corresponding map datum of the calibration scene；
According to the point cloud data of the laser radar to be calibrated, the high data and the map datum,
The position transformational relation of the laser radar and the inertial navigation system is obtained by calibration algorithm；The calibration algorithm is used for
After the point cloud data and the map datum are carried out coordinate system matching, matching result and high data are converted
For the data under same coordinate system；
According to the position transformational relation, the calibration result of laser radar is determined.
In one embodiment, it also performs the steps of to be acquired according to data when computer program is executed by processor and advise
Then, in preset calibration scene, the multiframe point cloud data and inertial navigation system of laser radar to be calibrated are obtained respectively
Multiframe high data.
In one embodiment, it is also performed the steps of when computer program is executed by processor by the multiframe point cloud
Under Data Matching to the corresponding coordinate system of the map datum, multiframe map point cloud data is obtained；By the multiframe point map cloud
Data are converted to the point cloud data under the corresponding coordinate system of the multiframe high data, obtain the laser radar and
The position transformational relation of the inertial navigation system.
In one embodiment, also performing the steps of when computer program is executed by processor will by cloud algorithm
The point cloud data is matched under the corresponding coordinate system of the map datum, obtains map point cloud data；Described cloud algorithm packet
ICP algorithm is included, and/or, NDT algorithm.
In one embodiment, it is also performed the steps of when computer program is executed by processor used according to the multiframe
Property navigation data and the multiple relative pose equations of multiframe point map cloud data list；Wherein, a frame map point cloud data
One group of data, the corresponding relative pose equation of every group of data are constituted with the high data in same frame；According to every
A relative pose equation and the corresponding one group of data of the relative pose equation, calculate the position in the relative pose equation
Conversion parameter, to obtain multiple position conversion parameters；It is determined according to multiple position conversion parameters and multiple relative pose equations
The position transformational relation.
In one embodiment, it is also performed the steps of when computer program is executed by processor by multiple relative poses
Equation is added up using least square method, obtains target relative pose equation；Multiple relative positions are turned by enumeration
It changes parameter to be concluded, obtains and obtain target position conversion parameter；Target position conversion parameter is substituted into the target with respect to position
Appearance equation obtains the position transformational relation.
In one embodiment, it is also performed the steps of when computer program is executed by processor and converts the position
Relationship is determined as the calibration result of the laser radar；Alternatively, the position transformational relation is visualized, and will visualization
Result afterwards is determined as the calibration result of the laser radar.
In one embodiment, the target object of reference is so that the signal of laser radar transmitting passes through the target
After object of reference, reflected signal strength is greater than the object of reference of preset threshold.
In one embodiment, the preset calibration scene is according to the laser radar, the inertial navigation system
Type and the target object of reference type determine scene.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided by the disclosure,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (12)
1. a kind of laser radar scaling method, which is characterized in that the described method includes:
In preset calibration scene, the point cloud data and high data of laser radar to be calibrated are obtained；The mark
Determine that there is target object of reference in scene；
Obtain the corresponding map datum of the calibration scene；
According to the point cloud data of the laser radar to be calibrated, the high data and the map datum, pass through
Calibration algorithm obtains the position transformational relation of the laser radar and the inertial navigation system；The calibration algorithm is used for institute
After stating point cloud data and map datum progress coordinate system matching, matching result and high data are converted into phase
With the data under coordinate system；
According to the position transformational relation, the calibration result of laser radar is determined.
2. method according to claim 1, which is characterized in that it is described in preset calibration scene, obtain laser to be calibrated
The point cloud data and high data of radar, comprising:
The multiframe point cloud data of laser radar to be calibrated is obtained respectively in preset calibration scene according to data collecting rule
And the multiframe high data of inertial navigation system.
3. method according to claim 2, which is characterized in that the point cloud data according to the laser radar to be calibrated,
The high data and the map datum obtain the laser radar and the inertial navigation by calibration algorithm
The position transformational relation of system, comprising:
The multiframe point cloud data is matched under the corresponding coordinate system of the map datum, multiframe map point cloud data is obtained；
The multiframe point map cloud data are converted into the point cloud under the corresponding coordinate system of the multiframe high data
Data obtain the position transformational relation of the laser radar and the inertial navigation system.
4. method according to claim 3, which is characterized in that described that the multiframe point cloud data is matched to the map number
According under corresponding coordinate system, multiframe map point cloud data is obtained, comprising:
The point cloud data is matched under the corresponding coordinate system of the map datum by cloud algorithm, obtains point map cloud number
According to；Described cloud algorithm includes ICP algorithm, and/or, NDT algorithm.
5. method according to claim 3, which is characterized in that it is described the multiframe point map cloud data are converted to it is described more
Point cloud data under the corresponding coordinate system of frame high data, obtains the laser radar and the inertial navigation system
Position transformational relation, comprising:
According to the multiframe inertial navigation data and the multiple relative pose equations of multiframe point map cloud data list；Its
In, the high data in a frame map point cloud data and same frame constitutes one group of data, and every group of data are one corresponding
Relative pose equation；
According to each relative pose equation and the corresponding one group of data of the relative pose equation, the relative pose side is calculated
Position conversion parameter in journey, to obtain multiple position conversion parameters；
The position transformational relation is determined according to multiple position conversion parameters and multiple relative pose equations.
6. method according to claim 5, which is characterized in that described according to multiple position conversion parameters and multiple with respect to position
Appearance equation determines the position transformational relation, comprising:
Multiple relative pose equations are added up using least square method, obtain target relative pose equation；
Multiple relative position conversion parameters are concluded by enumeration, obtains and obtains target position conversion parameter；
Target position conversion parameter is substituted into the target relative pose equation, obtains the position transformational relation.
7. any one of -6 the method according to claim 1, which is characterized in that it is described according to the position transformational relation, it determines
The calibration result of laser radar, comprising:
The position transformational relation is determined as to the calibration result of the laser radar；
Alternatively,
The position transformational relation is visualized, and the result after visualization is determined as to the calibration knot of the laser radar
Fruit.
8. any one of -6 the method according to claim 1, which is characterized in that the target object of reference is so that the laser thunder
Up to transmitting signal by the target object of reference after, reflected signal strength be greater than preset threshold object of reference.
9. any one of -6 the method according to claim 1, which is characterized in that the preset calibration scene is to be swashed according to described
The scene that the type of optical radar, the type of the inertial navigation system and the target object of reference determines.
10. a kind of laser radar caliberating device, which is characterized in that described device includes:
First obtains module, in preset calibration scene, the point cloud data and inertia for obtaining laser radar to be calibrated to be led
Navigate system data；There is target object of reference in the calibration scene；
Second obtains module, for obtaining the corresponding map datum of the calibration scene；
Conversion module, for according to the point cloud data of the laser radar to be calibrated, the high data and described
Map datum obtains the position transformational relation of the laser radar and the inertial navigation system by the first calibration algorithm；Institute
After the first calibration algorithm is stated for the point cloud data and the map datum to be carried out coordinate system matching, by matching result and it is used to
Property guidance system data is converted to the data under same coordinate system；
Demarcating module, for determining the calibration result of laser radar according to the position transformational relation.
11. a kind of computer equipment, including memory and processor, the memory are stored with computer program, feature exists
In when the processor executes the computer program the step of any one of realization claim 1-9 the method.
12. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method of any of claims 1-9 is realized when being executed by processor.
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