CN105067023B - A kind of panorama three-dimensional laser sensing data calibration method and device - Google Patents
A kind of panorama three-dimensional laser sensing data calibration method and device Download PDFInfo
- Publication number
- CN105067023B CN105067023B CN201510548076.2A CN201510548076A CN105067023B CN 105067023 B CN105067023 B CN 105067023B CN 201510548076 A CN201510548076 A CN 201510548076A CN 105067023 B CN105067023 B CN 105067023B
- Authority
- CN
- China
- Prior art keywords
- mrow
- mtd
- dimensional laser
- dimensional
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to a kind of panorama three-dimensional laser sensing data calibration method and device.Described device includes three-dimensional laser sensor and caliberating device.It the described method comprises the following steps：1) scan data of two-dimensional laser sensor is pressed into yLThe positive and negative plane of scanning motion for being equally divided into two parts, forming laser of axle；When rotary head drives 360 degree of two-dimensional laser sensor rotation, yLPositive and negative two parts laser data composition two spaces three dimensional point cloud of axle；2) the laser data characteristic point from two spaces three dimensional point cloud needed for extraction demarcation；3) distance of laser spots in two spaces three dimensional point cloud is optimized to obtain calibrating parameters.The present invention, which solves to click manually, matches and time overhead big problem uncontrollable to introduced human error, takes into full account the possible factor for influenceing data precision, improves transducer calibration precision, and improve the versatility of scaling method.
Description
Technical field
It is specifically a kind of to improve three-dimensional laser range-measurement system collection panorama the invention belongs to technical field of environmental perception
The method and apparatus of data precision, more particularly to a kind of panorama three-dimensional laser sensing data calibration method and device.
Background technology
Laser sensor belongs to active sensor, strong antijamming capability, can provide accurate depth information, can retouch in detail
Environment geometric properties, the threedimensional model of direct quick obtaining environment are stated, therefore leading position is occupied in three-dimensional environment perception,
There is larger application value including fields such as complicated landform robot navigation, engineering surveys.At present, there are more sale three in the world
The manufacturer of laser detection system is tieed up, such as：Austrian Riegl, Switzerland Leica, Japanese Topcon, U.S. Faro etc., these
Sensor is expensive, and often complicated, is unfavorable for maintenance and repair.
In order to reduce cost, most three-dimensional laser sensors is that one-dimensional rotation is added on the basis of two-dimensional laser, from
And obtain three-dimensional laser data (Jes ú s Morales, Jorge L.Mart í nez, Anthony Mandow, Alejandro-Botert,and Alfonso García-Cerezo,"Design and Development of a Fast
and Precise Low-Cost 3D Laser Rangefinder",in Proceedings of the 2011 IEEE
International Conference on Mechatronics,2011).Due to install two-dimensional laser sensor when
Wait, the deviation in angles and positions can not be avoided, so in order to obtain accurate three-dimensional laser data, using this three-dimensional sharp
, it is necessary to be demarcated to sensor inherent parameters before optical sensor.
Document (Yu Zujun, Yang Yanan, Zhu Liqiang, " research of three-dimensional laser scanning measurement system scaling method ", electronic surveying
With instrument journal, 21 (6), 31-35,2007) in demarcation object it is flat by a LMS200 two-dimensional lasers sensor and one
Moving device is formed, and the rotation between three-dimensional laser sensor coordinate system and extraneous measuring basis coordinate is realized using two kinds of calibrating templates
Turn parameter and translation parameters, the parameter can not be corrected due to data error caused by installation question.
Document (Jes ú s Morales, Jorge L.Mart í nez, Anthony Mandow, Antonio J.Reina,
Alejandro-Boter and Alfonso García-Cerezo,"Boresight Calibration of
Construction Misalignments for 3D Scanners Built with a 2D Laser Rangefinder
Rotating on Its Optical Center ", Sensors, 14 (11), 20025-20040,2014.) utilize Nelder-
Mead methods carry out flatness to panel data and area largest optimization is handled, and demarcation two-dimensional laser sensor is relative to three dimensions
According to two anglecs of rotation of coordinate system, although more accurately three-dimensional data can be obtained, due to have ignored partial 3-D
Laser internal parameter, when alignment error be present, it still can introduce certain data error.Equally, document (Gu Xiaojie, is foretold
Spring scenery, Chen Cheng, week dredge wise man, " three-dimensional laser Ranging System is studied with scaling method ", Shenyang Univ. of Science and Engineering's journal, 33 (5),
10-14,47,2014) it only considered the partial interior parameter of three-dimensional laser sensor, it is impossible to as general method to various three
Dimension laser sensor is demarcated.
The content of the invention
For the above-mentioned problems in the prior art, the problem to be solved in the present invention is to propose a kind of panorama three-dimensional laser
Sensing data calibration method and device.
The used to achieve the above object technical scheme of the present invention is：A kind of panorama three-dimensional laser sensing data calibration
Device includes three-dimensional laser sensor and caliberating device；The three-dimensional laser sensor includes rotary head and is arranged at rotation
Two-dimensional laser sensor on head；The caliberating device is located in the setpoint distance in front of three-dimensional laser sensor.
The caliberating device is printing paper, and the air brushing of printing paper surface has n × m the square black squares and white square alternateed；Often
There is hollow out the center of individual black square and white square.
The hollow out is shaped as circle.
A kind of panorama three-dimensional laser sensing data calibration method, comprises the following steps：
1) scan data of two-dimensional laser sensor is pressed into yLThe positive and negative of axle is equally divided into two parts, forms sweeping for laser
Retouch plane；When rotary head drives 360 degree of two-dimensional laser sensor rotation, yLPositive and negative two parts laser data composition two of axle
Individual space three-dimensional cloud data；
2) the laser data characteristic point from two spaces three dimensional point cloud needed for extraction demarcation；
3) distance of laser spots in two spaces three dimensional point cloud is optimized to obtain calibrating parameters.
The scanning angle of described two parts is equal, and more than or equal to 90 degree.
Laser data characteristic point in the three dimensional point cloud from two spaces needed for extraction demarcation, including following step
Suddenly：
2-1) according to the distance between caliberating device and two-dimensional laser sensor, and two spaces three-dimensional point data is with swashing
Mapping relations between optical scanning sequence index value, obtain the data in caliberating device region；
2-2) plane of caliberating device is obtained according to the data in caliberating device region；
Binaryzation 2-3) is carried out to the data in caliberating device region according to plane；
2-4) to the angle point on the data extraction caliberating device after binaryzation.
It is described that binaryzation is carried out to the data in caliberating device region according to plane, comprise the following steps：
According to the distance d of the plane of caliberating device and two-dimensional laser sensor to the plane of caliberating device in region
Data carry out binary conversion treatment：
Wherein, IiFor the value after i points binaryzation in region,For experience distance threshold.
Angle point on the data extraction caliberating device to after binaryzation, comprises the following steps：
The data of void region are 0 on caliberating device, and other area datas are 255, by the points point of row statistics 0 and 255
Cloth histogram, row coordinate is obtained by row statistics
Wherein, i, j represent ranks subscript respectively；Function 1 () is 0-1 functions, is worth if condition in bracket is very and is
1, it is otherwise 0；Median () is that intermediate value selects function, IijRepresent binaryzation value；
Hollow out centre coordinate is determined according to the row coordinate of each column, and the intersection point for obtaining every four adjacent black squares and white square is sat
It is denoted as angular coordinate.
The distance of laser spots optimizes to obtain calibrating parameters in the three dimensional point cloud to two spaces, including following
Step：
The distance of character pair point pair is in two spaces three dimensional point cloudUsing iteration optimization
Algorithm calculates range formula and obtains calibrating parameters；Wherein, range formula is
RLPAnd TLPThe rotation and translation matrix that respectively two-dimensional laser coordinate system is changed to three-dimensional laser coordinate system, upper right
Mark k and represent laser spots numbering；L be two-dimensional laser coordinate system and three-dimensional laser coordinate system it
Between site error；
α, β, γ are the spaced winding x of two-dimensional laser coordinate system and three-dimensional laser coordinate systemLAxle, yLAxle, zLThe error angle of axle rotation
Degree.
The iteration optimization algorithms are least square method or Newton tangential method.
The invention has the advantages that and advantage：
1. the present invention only using three-dimensional laser sensor as measurement apparatus, using from environment select feature as calculating according to
According to realizing the calibration to panorama three-dimensional laser data.
2. the present invention solves panorama three-dimensional laser sensor internal parameter calibration problem, only by a data acquisition just
It can easily realize that multiple characteristic points automatically extract.
3. the present invention, which solves to click manually, matches and time overhead big problem uncontrollable to introduced human error, fill
Divide the possible factor for considering to influence data precision, improve transducer calibration precision, and improve the versatility of scaling method.
4. the present invention lays the foundation for panorama three-dimensional laser transducer calibration, complicated landform robot navigation, work can be used in
The fields such as journey measurement.
5. calibration method proposed by the invention considers that two-dimensional laser coordinate system that may be present is sat with three-dimensional laser comprehensively
Position and rotation error between mark system, improve the versatility of method.
6. caliberating device of the present invention is easy to make, easy to carry, reusable.
Brief description of the drawings
Fig. 1 is panorama three-dimensional laser sensor model schematic diagram；
Fig. 2 is 3 angular error schematic diagrames one of three-dimensional laser sensor；
Fig. 3 is 3 angular error schematic diagrames two of three-dimensional laser sensor；
Fig. 4 is 3 angular error schematic diagrames three of three-dimensional laser sensor；
Fig. 5 is caliberating device schematic diagram；
Fig. 6 is caliberating device angle point grid schematic diagram；
Fig. 7 is three-dimensional laser sensor construction schematic diagram；
Fig. 8 is panorama three-dimensional laser sensor；
Fig. 9 is panorama three-dimensional laser point cloud data experimental result picture in correction cup；
Figure 10 is the cloud data experimental result picture after correction.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail.
Maximum innovative point of the invention is considering the angles and positions error that may be present in installation process in comprehensive, fits
Demarcated for a variety of panorama three-dimensional laser sensor parameters.It is of the invention by two-dimensional laser coordinate system and three-dimensional laser coordinate system for this
Between three angle parameters and one deflection heart distance parameter as parameter to be calibrated, by plane fitting, laser data two
Value, angle point grid processing, extract the characteristic point for belonging to caliberating device respectively from two parts three-dimensional laser data of collection,
Using iterative optimization method calibrating parameters are treated to be solved, so as to obtain two-dimensional laser coordinate system and three-dimensional laser coordinate system it
Between angles and positions parameter.
3 angle parameters and 1 position of the inventive method between two-dimensional laser coordinate system and three-dimensional laser coordinate system
Parameter is as parameter to be calibrated, the phenomenon that can not be overlapped using the angle point on caliberating device in two parts laser data, using repeatedly
Calibrating parameters are solved for optimization method, the calibrating parameters can meet that the data of a variety of panorama three-dimensional laser sensors are rectified
Positive demand.Comprise the following steps that：
A) caliberating device is placed in Experimental Area, the OK range of distance between caliberating device and three-dimensional laser sensor
Between 2m-10m；
B) scan data of SICK LMS200 laser sensors is pressed into yLIt is positive and negative be equally divided into two parts, per part
Scanning angle is 90 degree, and when 360 degree of rotary head drive LMS200 laser rotaries, positive and negative two parts laser data is just
Form two spaces three dimensional point cloud；
C) according to the putting position of caliberating device, the data in caliberating device region are filtered out, and carry out plane fitting, foundation
The distance value d of caliberating device region laser point data to institute's fit Plane to carry out binary conversion treatment to area data
Wherein IiFor the value after i points binaryzation in region,For experience distance threshold, after binaryzation, hollow out circular hole area
The data in domain are 0, and other area datas are 255, by the points distribution histogram of row statistics 0 and 255, obtain row by row statistics and sit
Mark
Wherein i, j represent ranks subscript respectively, and function 1 () is 0-1 functions, and it is 1 to be worth if condition in bracket is very,
Otherwise it is that 0, median () is that intermediate value selects function, IijBinaryzation value is represented, so that it is determined that hollow out centre coordinate, and can
Further black and white lattice angular coordinate is determined according to four neighborhood relationships；
D) distance that angle point pair is corresponded in two parts three-dimensional laser point cloud isCalibration process is optimization distance
Formula
Wherein RLPAnd TLPThe rotation and translation matrix that respectively two-dimensional laser coordinate system is changed to three-dimensional laser coordinate system,Site errors of the l between two-dimensional laser coordinate system and three-dimensional laser coordinate system,
α, β, γ are the spaced winding x of two-dimensional laser coordinate system and three-dimensional laser coordinate systemLAxle, yLAxle, zLThe error angle of axle rotation
Degree, using iteration optimization algorithms, obtains the actual value of calibration result, i.e. α, β, γ and l.
Technical scheme is as follows：
1. panorama three-dimensional laser sensor characteristics is analyzed
The panorama three-dimensional laser sensor being made up of two-dimensional laser sensor and rotary head, its system model such as Fig. 1 institutes
Show, can be described with formula once：
Wherein,WithRespectively a laser spots are in two-dimensional laser coordinate system and three
The coordinate in laser coordinate system is tieed up,For the head anglec of rotation corresponding to i-th group of laser data,WithIt is respectively two-dimentional
The rotation and translation matrix that laser coordinate system changes to three-dimensional laser coordinate system.Because every group of laser data corresponds to the head anglec of rotation
Degree is different, so spin matrix and translation matrix are not fixed.Above formula describes ideal coordinates system relation, but actually should
In, due to alignment error be present, above-mentioned ideal relationship formula can not be met, it is necessary to the rotation between equipment and translation relation
Estimated, i.e., systematic parameter is demarcated, it is necessary to demarcate the rotation between two-dimensional laser coordinate system and three-dimensional laser coordinate system
Transfer the registration of Party membership, etc. from one unit to another and translation relation.
Due to alignment error be present, need to consider three angular errors, such as Fig. 2 when coordinate system rotation transformation is carried out
Shown in~4.Spin matrix R is defined, the matrix can be by laser spots from the laser scanning Plane Rotation that error be present to preferable feelings
Condition, that is, after rotating, tri- angular errors of α, β and γ are not present between laser scanning plane and rotary head plane.After correction
Coordinate transform formula be expressed as：
So the parameter for needing to demarcate shares 4：α, β, γ and l.
2. the design of caliberating device
The laser beam that different medium is launched laser sensor has different reflectivity, wherein glossy object is anti-
The rate of penetrating is higher than matt object, influence of the same different incidence angles to ranging also highly significant, but target object surface color
Ranging is influenceed little.For above-mentioned laser characteristics, three-dimensional laser caliberating device (as shown in Figure 5), the material of device are developed
For glossy printing paper, there is high reflectance to laser with guarantee.Go out 4 × 5 square black and white lattice in the air brushing of printing paper surface, often
The length of side of individual black and white lattice is 25cm.Hollow out is carried out in each black and white lattice center, hollow out is shaped as the circle that radius is 5cm.Through
Cross experimental verification, selection circle is produced by order to ensure the robustness of algorithm and avoid Laser edge effect as hollow out shape
Influence.
3. the extraction of laser data characteristic point needed for demarcation
(1) the rough position scope of caliberating device is determined.According to the putting position of caliberating device, set in scaling method
Coordinate parameters of the caliberating device in three-dimensional laser coordinate system, the region is filtered out according to the parameter combination laser spots three-dimensional coordinate
Data.
(2) plane is determined according to scope.According to the data point fit Plane in region, i.e.,
Wherein a=[a1,a2,a3]TFor plane normal vector, qi=[x, y, z]TFor area coordinate point.Effect is calculated in order to improve
Rate, it can directly determine plane equation according to four boundary points of device location.N is the laser spots number in region.
(3) laser ranging data binaryzation.Distance value d according to caliberating device region laser point data to institute's fit Plane
To carry out binary conversion treatment to area data.
Wherein IiFor the value after i points binaryzation in region,For experience distance threshold,After binaryzation,
The data in hollow out circular hole region are 0, and other area datas are 255, and angle is carried out so as to further use for reference image processing method
Point extraction.
(4) angle point is extracted.Caliberating device simulation simplification figure as shown in Figure 6,7, in 4 × 5 black and white lattice, circle represents to engrave
Dummy section, the cross at center represent hollow out center, and the round dot between void region represents the angle point of black and white lattice, and dotted line enters plane
Row is evenly dividing.The data obtained after binaryzation in utilization (3), 0 and 255 points distribution histogram, and root are counted by row first
The row coordinate at hollow out center is determined according to peak point, row coordinate similarly can be also obtained by row statistics, is specifically shown in equation below：
Wherein i, j represent ranks subscript respectively, and function 1 () is 0-1 functions, and it is 1 to be worth if condition in bracket is very,
Otherwise it is 0.Median () is that intermediate value selects function, IijRepresent binaryzation value.So that it is determined that 4 × 5 hollow out center is sat
Mark, and 3 × 4 black and white lattice angular coordinate can be further determined according to four neighborhood relationships.
4. calculate calibrating parameters value
Due to the presence of alignment error, as shown in figure 8, when head is rotated by 360 ° collection laser data, composition
Panorama three-dimensional laser point cloud can produce distortion.In order to calculate calibrating parameters, laser data is divided into two parts, laser by region
Point yL>0, use P+Represent, laser spots yL<0, use P-Represent.When head is rotated by 360 °, two three-dimensional point clouds are built, from two
There is one-to-one relationship in two groups of angle points in individual cloud, the distance of corresponding angle point isCalibration process is
Laser spots range formula is corresponded between two clouds of optimization：
The optimized algorithms such as least square method or Newton tangential method can be used to two groups of angle points as inputting, according to
Formulaα, β, γ and l are iterated to calculate, k and k+1 are represented respectively
+ 1 iteration of kth and kth, D' are derivatives of the D to α, β, γ and l.
In order to verify the validity of this method, testing for scaling method is carried out using the sensing system as constructed by Fig. 6
Card.The laser sensor of panorama three is made up of the type laser sensors of SICK LMS 200 and rotary head, and wherein laser sensor is put down
Surface scan angle is 0-180 degree, and the application of the frequency of head stepper motor is 500-2500Hz.Utilize motor driven laser
Sensor obtains the three-dimensional laser ranging data of scene.
Caliberating device is placed in Experimental Area, the OK range of distance is between caliberating device and three-dimensional laser sensor
Between 2m-10m.The scan data of the laser sensors of LMS 200 is pressed into yLIt is positive and negative be equally divided into two parts, per partial scan
Angle is 90 degree, when 360 degree of rotary head drive LMS 200 laser rotaries, positive and negative two parts laser data just group
Into two spaces three dimensional point cloud.After plane fitting, laser data binaryzation, angle point grid processing, two can be obtained
The Corresponding matching point pair of group data, to point to being iterated matching, three-dimensional laser transducer calibration parameter can be calculated：
From qualitatively angle analysis, visual verification is carried out to calibration result by judging whether two groups of laser datas overlap.
Ideally, two parts laser data of synchronization collection should be completely superposed, but due to error be present, such as Fig. 9 institutes
Show, two three-dimensional laser point clouds have certain deviation, three-dimensional laser data are corrected using calibrating parameters, Figure 10 is shown
Two groups of laser point cloud datas after correction, it can be seen that laser data is more accurate, description three-dimensional scenic that can be strictly according to the facts.
Claims (5)
1. a kind of panorama three-dimensional laser sensing data calibration method, it is characterised in that this method is to be based on panorama three-dimensional laser
Sensing data calibrating installation is realized；
The panorama three-dimensional laser sensing data calibrating installation, including three-dimensional laser sensor and caliberating device；The three-dimensional
Laser sensor includes rotary head and the two-dimensional laser sensor being arranged on rotary head；The caliberating device is located at three
Tie up in the setpoint distance in front of laser sensor；The caliberating device is printing paper, and the air brushing of printing paper surface has n × m to alternate
Square black square and white square；There is hollow out the center of each black square and white square, and hollow out is shaped as circle；
This method comprises the following steps：
1) scan data of two-dimensional laser sensor is pressed into yLThe positive and negative of axle is equally divided into two parts, and the scanning for forming laser is put down
Face；When rotary head drives 360 degree of two-dimensional laser sensor rotation, yLPositive and negative two parts laser data of axle forms two skies
Between three dimensional point cloud；
2) the laser data characteristic point from two spaces three dimensional point cloud needed for extraction demarcation；
Laser data characteristic point in the three dimensional point cloud from two spaces needed for extraction demarcation, comprises the following steps：
2-1) swept according to the distance between caliberating device and two-dimensional laser sensor, and two spaces three-dimensional point data with laser
The mapping relations between sequence index value are retouched, obtain the data in caliberating device region；
2-2) plane of caliberating device is obtained according to the data in caliberating device region；
Binaryzation 2-3) is carried out to the data in caliberating device region according to plane；
2-4) to the angle point on the data extraction caliberating device after binaryzation；
3) distance of laser spots in two spaces three dimensional point cloud is optimized to obtain calibrating parameters；
The distance of laser spots optimizes to obtain calibrating parameters, including following step in the three dimensional point cloud to two spaces
Suddenly：
The distance of character pair point pair is in two spaces three dimensional point cloudUsing iteration optimization algorithms meter
Calculate range formula and obtain calibrating parameters；Wherein, range formula is
RLPAnd TLPThe rotation and translation matrix that respectively two-dimensional laser coordinate system is changed to three-dimensional laser coordinate system, upper right mark k tables
Show that laser spots are numbered；L is between two-dimensional laser coordinate system and three-dimensional laser coordinate system
Site error；
<mrow>
<mi>R</mi>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>cos</mi>
<mi>&beta;</mi>
<mi>cos</mi>
<mi>&gamma;</mi>
<mo>-</mo>
<mi>sin</mi>
<mi>&alpha;</mi>
<mi>sin</mi>
<mi>&beta;</mi>
<mi>sin</mi>
<mi>&gamma;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mi>cos</mi>
<mi>&beta;</mi>
<mi>sin</mi>
<mi>&gamma;</mi>
<mo>-</mo>
<mi>sin</mi>
<mi>&alpha;</mi>
<mi>sin</mi>
<mi>&beta;</mi>
<mi>cos</mi>
<mi>&gamma;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mi>cos</mi>
<mi>&alpha;</mi>
<mi>sin</mi>
<mi>&beta;</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>cos</mi>
<mi>&alpha;</mi>
<mi>sin</mi>
<mi>&gamma;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>cos</mi>
<mi>&alpha;</mi>
<mi>cos</mi>
<mi>&gamma;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mi>sin</mi>
<mi>&alpha;</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>sin</mi>
<mi>&beta;</mi>
<mi>cos</mi>
<mi>&gamma;</mi>
<mo>+</mo>
<mi>sin</mi>
<mi>&alpha;</mi>
<mi>cos</mi>
<mi>&beta;</mi>
<mi>sin</mi>
<mi>&gamma;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mi>sin</mi>
<mi>&beta;</mi>
<mi>sin</mi>
<mi>&gamma;</mi>
<mo>+</mo>
<mi>sin</mi>
<mi>&alpha;</mi>
<mi>cos</mi>
<mi>&beta;</mi>
<mi>cos</mi>
<mi>&gamma;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>cos</mi>
<mi>&alpha;</mi>
<mi>cos</mi>
<mi>&beta;</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
α, β, γ are the spaced winding x of two-dimensional laser coordinate system and three-dimensional laser coordinate systemLAxle, yLAxle, zLThe error angle of axle rotation.
2. a kind of panorama three-dimensional laser sensing data calibration method according to claim 1, it is characterised in that described two
The scanning angle of individual part is equal, and more than or equal to 90 degree.
3. a kind of panorama three-dimensional laser sensing data calibration method according to claim 1, it is characterised in that described
Binaryzation is carried out to the data in caliberating device region according to plane, comprised the following steps：
According to the distance d of the plane of caliberating device and two-dimensional laser sensor to the plane of caliberating device to the data in region
Carry out binary conversion treatment：
<mrow>
<msub>
<mi>I</mi>
<mi>i</mi>
</msub>
<mo>=</mo>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mn>255</mn>
</mtd>
<mtd>
<mrow>
<msub>
<mi>d</mi>
<mi>i</mi>
</msub>
<mo><</mo>
<mover>
<mi>d</mi>
<mo>&OverBar;</mo>
</mover>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<msub>
<mi>d</mi>
<mi>i</mi>
</msub>
<mo>></mo>
<mo>=</mo>
<mover>
<mi>d</mi>
<mo>&OverBar;</mo>
</mover>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
Wherein, IiFor the value after i points binaryzation in region,For experience distance threshold.
4. a kind of panorama three-dimensional laser sensing data calibration method according to claim 1, it is characterised in that described right
The angle point on data extraction caliberating device after binaryzation, comprises the following steps：
The data of void region are 0 on caliberating device, and other area datas are 255, are distributed by the points of row statistics 0 and 255 straight
Fang Tu, row coordinate is obtained by row statistics
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mi>i</mi>
<mo>=</mo>
<mi>m</mi>
<mi>e</mi>
<mi>d</mi>
<mi>i</mi>
<mi>a</mi>
<mi>n</mi>
<mo>(</mo>
<mi>arg</mi>
<munder>
<mrow>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
<mi>i</mi>
</munder>
<mstyle>
<munderover>
<mo>&Sigma;</mo>
<mi>j</mi>
<mrow>
<mi>b</mi>
<mi>i</mi>
<mi>n</mi>
</mrow>
</munderover>
</mstyle>
<mn>1</mn>
<mrow>
<mo>(</mo>
<mrow>
<msub>
<mi>I</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>=</mo>
<mn>0</mn>
</mrow>
<mo>)</mo>
</mrow>
<mo>)</mo>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>j</mi>
<mo>=</mo>
<mi>m</mi>
<mi>e</mi>
<mi>d</mi>
<mi>i</mi>
<mi>a</mi>
<mi>n</mi>
<mo>(</mo>
<mi>arg</mi>
<munder>
<mrow>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
<mi>j</mi>
</munder>
<mstyle>
<munderover>
<mo>&Sigma;</mo>
<mi>i</mi>
<mrow>
<mi>b</mi>
<mi>i</mi>
<mi>n</mi>
</mrow>
</munderover>
</mstyle>
<mn>1</mn>
<mrow>
<mo>(</mo>
<mrow>
<msub>
<mi>I</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>=</mo>
<mn>0</mn>
</mrow>
<mo>)</mo>
</mrow>
<mo>)</mo>
</mtd>
</mtr>
</mtable>
</mfenced>
Wherein, i, j represent ranks subscript respectively；Function 1 () is 0-1 functions, and it is 1 to be worth if condition in bracket is very, no
It is then 0；Median () is that intermediate value selects function, IijRepresent binaryzation value；
Hollow out centre coordinate is determined according to the row coordinate of each column, and the intersecting point coordinate for obtaining every four adjacent black squares and white square is made
For angular coordinate.
5. a kind of panorama three-dimensional laser sensing data calibration method according to claim 1, it is characterised in that described to change
It is least square method or Newton tangential method for optimized algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510548076.2A CN105067023B (en) | 2015-08-31 | 2015-08-31 | A kind of panorama three-dimensional laser sensing data calibration method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510548076.2A CN105067023B (en) | 2015-08-31 | 2015-08-31 | A kind of panorama three-dimensional laser sensing data calibration method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105067023A CN105067023A (en) | 2015-11-18 |
| CN105067023B true CN105067023B (en) | 2017-11-14 |
Family
ID=54496449
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510548076.2A Expired - Fee Related CN105067023B (en) | 2015-08-31 | 2015-08-31 | A kind of panorama three-dimensional laser sensing data calibration method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105067023B (en) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105678076B (en) * | 2016-01-07 | 2018-06-22 | 福州华鹰重工机械有限公司 | The method and device of point cloud measurement data quality evaluation optimization |
| CN106885531B (en) * | 2017-04-20 | 2018-12-18 | 河北科技大学 | Wagon box based on two-dimensional laser radar describes device 3 D scanning system scaling method |
| CN107861128B (en) * | 2017-12-11 | 2023-09-29 | 同方威视技术股份有限公司 | Three-dimensional scanning device, robot, and data processing method |
| CN108362240B (en) * | 2018-01-30 | 2020-12-25 | 深圳市圆梦精密技术研究院 | Method for acquiring coordinate system of workpiece |
| CN108491760A (en) * | 2018-02-14 | 2018-09-04 | 天目爱视（北京）科技有限公司 | 3D four-dimension iris data acquisition methods based on light-field camera and system |
| CN108470149A (en) * | 2018-02-14 | 2018-08-31 | 天目爱视（北京）科技有限公司 | A kind of 3D 4 D datas acquisition method and device based on light-field camera |
| CN110308436B (en) * | 2018-03-27 | 2023-07-21 | 深圳砺剑天眼科技有限公司 | Laser optical axis calibration method and system for multi-line laser scanner |
| CN108550184A (en) * | 2018-04-04 | 2018-09-18 | 北京天目智联科技有限公司 | A kind of biological characteristic 3D 4 D datas recognition methods and system based on light-field camera |
| CN109856642B (en) * | 2018-12-20 | 2023-05-16 | 上海海事大学 | Plane calibration method based on rotary three-dimensional laser measurement system |
| CN109822562A (en) * | 2018-12-26 | 2019-05-31 | 浙江大学 | A kind of workpiece three-dimensional rebuilding method based on SICK system |
| CN111381223A (en) * | 2018-12-27 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Method, system and device for detecting performance of laser ranging sensor |
| CN109975793B (en) * | 2019-04-25 | 2021-03-12 | 苏州玖物互通智能科技有限公司 | Calibration method of laser two-dimensional distance measurement sensor |
| CN111077506B (en) * | 2019-12-12 | 2022-04-19 | 苏州智加科技有限公司 | Method, device and system for calibrating millimeter wave radar |
| CN111141744B (en) * | 2019-12-31 | 2023-01-31 | 广州维思车用部件有限公司 | Lens detection device |
| CN113446956B (en) * | 2020-03-24 | 2023-08-11 | 阿里巴巴集团控股有限公司 | Data acquisition equipment, data correction method and device and electronic equipment |
| CN111562563A (en) * | 2020-04-30 | 2020-08-21 | 北京国电富通科技发展有限责任公司 | Laser radar rotary table calibration method and device and computer readable storage medium |
| CN114111583B (en) * | 2020-08-27 | 2023-10-20 | 神华神东煤炭集团有限责任公司 | Mining crack monitoring device and method based on laser ranging |
| CN113483664B (en) * | 2021-07-20 | 2022-10-21 | 科派股份有限公司 | Screen plate automatic feeding system and method based on line structured light vision |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101698303A (en) * | 2009-09-11 | 2010-04-28 | 大连理工大学 | Automatic calibration method between three-dimensional laser and monocular vision |
| CN103257342A (en) * | 2013-01-11 | 2013-08-21 | 大连理工大学 | Three-dimension laser sensor and two-dimension laser sensor combined calibration method |
| AU2012314077A1 (en) * | 2011-09-30 | 2014-04-17 | Oxa Autonomy Ltd | Determining extrinsic calibration parameters for a sensor |
| CN104142157A (en) * | 2013-05-06 | 2014-11-12 | 北京四维图新科技股份有限公司 | Calibration method, device and equipment |
| CN104574406A (en) * | 2015-01-16 | 2015-04-29 | 大连理工大学 | Joint calibration method between 360-degree panorama laser and multiple visual systems |
| CN204924273U (en) * | 2015-08-31 | 2015-12-30 | 中国科学院沈阳自动化研究所 | Three -dimensional laser sensor data calibrating device of panorama |
-
2015
- 2015-08-31 CN CN201510548076.2A patent/CN105067023B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101698303A (en) * | 2009-09-11 | 2010-04-28 | 大连理工大学 | Automatic calibration method between three-dimensional laser and monocular vision |
| AU2012314077A1 (en) * | 2011-09-30 | 2014-04-17 | Oxa Autonomy Ltd | Determining extrinsic calibration parameters for a sensor |
| CN103257342A (en) * | 2013-01-11 | 2013-08-21 | 大连理工大学 | Three-dimension laser sensor and two-dimension laser sensor combined calibration method |
| CN104142157A (en) * | 2013-05-06 | 2014-11-12 | 北京四维图新科技股份有限公司 | Calibration method, device and equipment |
| CN104574406A (en) * | 2015-01-16 | 2015-04-29 | 大连理工大学 | Joint calibration method between 360-degree panorama laser and multiple visual systems |
| CN204924273U (en) * | 2015-08-31 | 2015-12-30 | 中国科学院沈阳自动化研究所 | Three -dimensional laser sensor data calibrating device of panorama |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105067023A (en) | 2015-11-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105067023B (en) | A kind of panorama three-dimensional laser sensing data calibration method and device | |
| CN109029284B (en) | A kind of three-dimensional laser scanner based on geometrical constraint and camera calibration method | |
| CN108151671B (en) | A kind of 3 D digital imaging sensor, 3 D scanning system and its scan method | |
| CN106091984B (en) | A kind of three dimensional point cloud acquisition methods based on line laser | |
| CN101814185B (en) | Line structured light vision sensor calibration method for micro-size measurement | |
| CN106056587B (en) | Full view line laser structured light three-dimensional imaging caliberating device and method | |
| CN101882313B (en) | Calibration method of correlation between single line laser radar and CCD (Charge Coupled Device) camera | |
| CN105627992B (en) | A kind of method that ancient building is surveyed and drawn in quick high accuracy noncontact | |
| CN100470590C (en) | Camera calibration method and calibration apparatus thereof | |
| CN105627948B (en) | A kind of method that large complicated carved measuring system carries out complex-curved sampling | |
| CN106097348A (en) | A kind of three-dimensional laser point cloud and the fusion method of two dimensional image | |
| CN104567727B (en) | Global unified calibration method for linear structured light profile sensor through three-dimensional target | |
| CN108389233B (en) | Laser scanner and camera calibration method based on boundary constraint and mean value approximation | |
| CN106291512A (en) | A kind of method of array push-broom type laser radar range Nonuniformity Correction | |
| CN105551039A (en) | Calibration method and calibration device for structured light 3D scanning system | |
| CN106127771A (en) | Tunnel orthography system and method is obtained based on laser radar LIDAR cloud data | |
| CN101673399A (en) | Calibration method of coded structured light three-dimensional vision system | |
| CN103345761B (en) | For the method and system that linear array high tower dip sweeping imaging data corrects and splices | |
| CN102184563B (en) | Three-dimensional scanning method, three-dimensional scanning system and three-dimensional scanning device used for plant organ form | |
| CN104376558A (en) | Cuboid-based intrinsic parameter calibration method for Kinect depth camera | |
| CN104207801B (en) | A kind of ultrasound detection image three-dimensional scaling method | |
| CN101650828B (en) | Method for reducing random error of round object location in camera calibration | |
| CN104019829A (en) | Vehicle-mounted panorama camera based on POS (position and orientation system) and external parameter calibrating method of linear array laser scanner | |
| CN111486864A (en) | Multi-source sensor combined calibration method based on three-dimensional regular octagon structure | |
| CN204924273U (en) | Three -dimensional laser sensor data calibrating device of panorama |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171114 Termination date: 20180831 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |