CN107247268B - Multi-line laser radar system and correction method of horizontal installation angle thereof - Google Patents
Multi-line laser radar system and correction method of horizontal installation angle thereof Download PDFInfo
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- CN107247268B CN107247268B CN201710345109.2A CN201710345109A CN107247268B CN 107247268 B CN107247268 B CN 107247268B CN 201710345109 A CN201710345109 A CN 201710345109A CN 107247268 B CN107247268 B CN 107247268B
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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Abstract
The invention relates to a multi-line laser radar system and a method for correcting a horizontal installation angle of the multi-line laser radar system. The method comprises the following steps: setting a standard calibration environment; placing the multiline laser radar in the standard calibration environment and scanning the standard calibration environment; acquiring angle-distance data generated by each line of laser in the process of scanning the standard calibration environment; taking one line of laser as a reference channel and the rest laser as channels to be corrected, and performing cross-correlation operation on distance data D1 of the reference channel and distance data Di of each channel to be corrected to obtain a cross-correlation curve; taking an abscissa corresponding to the maximum value of the ordinate of the cross-correlation curve as a horizontal offset angle corresponding to the channel to be corrected; and correcting the horizontal installation angle of the corresponding laser by using the horizontal offset angle. The system is provided with a program for realizing the horizontal angle offset calculation. The system and the method can realize the correction of a single parameter and are easy to implement.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a multi-line laser radar system and a method for correcting a horizontal installation angle of the multi-line laser radar system.
Background
A lidar is a device that detects an object by emitting laser light and receiving the reflected laser light. To improve the range and accuracy of lidar detection, a multiline lidar may be used. The multiline means that the laser radar can simultaneously transmit and receive a plurality of laser beams, and a plurality of concentric scanning lines can be obtained when 360-degree scanning is carried out. As shown in fig. 1, the laser radar simultaneously emits 3 laser lights S1, S2, S3. The three laser beams S1, S2, S3 are emitted at different angles from the vertical direction, so that scan lines with different radii can be formed.
Meanwhile, as shown in fig. 2a, the three laser beams require the light emitting directions in the horizontal direction to be consistent, so that the ranging accuracy can be ensured. However, during the production process of the multi-line lidar, the installation position of each line of the lidar is difficult to keep consistent in the horizontal direction, as shown in fig. 2 b. Thus, when the same vertical line position is scanned, the obtained signals are staggered in time, so that the scanning signals cannot be effectively used to obtain accurate distance information. Therefore, correction is required.
The traditional correction technology mostly aims at the integral calibration of internal factors of the laser radar, the correction of a single factor cannot be optimized, the requirement on a scene is high, and the used calibration algorithm is complex.
Disclosure of Invention
In view of the above, there is a need for a method for correcting the horizontal installation angle of a multiline lidar which is relatively simple and can correct a single factor.
In addition, a multiline lidar system is also provided.
A method for correcting the horizontal installation angle of a multiline laser radar comprises the following steps:
setting a standard calibration environment; the standard calibration environment provides at least two scanned surfaces and at least one vertical edge formed by the connection of the at least two scanned surfaces;
placing the multiline laser radar in the standard calibration environment and scanning the standard calibration environment;
acquiring angle-distance data generated by each line laser in the process of scanning the standard calibration environment;
taking one of the line lasers as a reference channel and the rest lasers as channels to be corrected, and performing cross-correlation operation on distance data D1 of the reference channel and distance data Di of each channel to be corrected:
[Ai,Bi]＝xcorr(D1,Di)
obtaining a cross-correlation curve with the abscissa as Bi and the ordinate as Ai; taking an abscissa corresponding to the maximum value of the ordinate of the cross-correlation curve as a horizontal offset angle corresponding to the channel to be corrected;
and correcting the horizontal installation angle of the corresponding laser by using the horizontal offset angle.
In one embodiment, the standard calibration environment is a four-sided fence environment, and four scanned surfaces and four vertical edges formed by the four scanned surfaces are provided.
In one embodiment, after the step of acquiring the angle-distance data generated by each line laser during the scanning of the standard calibration environment, the method further comprises: interpolating the angle-distance data;
and performing the cross-correlation operation on the interpolated distance data of the reference channel and the interpolated distance data of each channel to be corrected.
In one embodiment, the step of interpolating the angle-distance data is a linear interpolation.
In one embodiment, the angle step of the linear interpolation is 0.001-0.003 degrees.
In one embodiment, the multiline lidar is a 16-line, 32-line or 64-line lidar.
A multiline lidar system comprising:
the multi-line laser radar is used for transmitting laser signals and receiving reflected laser echo signals;
a data processing device for executing a method of calculating a horizontal angle offset from the laser echo signal;
the data processing device comprises a memory, a radar signal processing unit and a central processing unit; the storage is stored with a processing instruction, the radar signal processing unit is used for processing laser echo signals to obtain original data, and the central processing unit is used for executing the following steps according to the original data and the processing instruction:
acquiring angle-distance data generated by each line laser in the process of scanning a standard calibration environment;
taking one of the line lasers as a reference channel and the rest lasers as channels to be corrected, and performing cross-correlation operation on distance data D1 of the reference channel and distance data Di of each channel to be corrected:
[Ai,Bi]＝xcorr(D1,Di)
obtaining a cross-correlation curve with the abscissa as Bi and the ordinate as Ai; and taking an abscissa corresponding to the maximum value of the ordinate of the cross-correlation curve as the horizontal offset angle of each line of laser relative to the reference laser.
In one embodiment, after the step of acquiring the angle-distance data generated during the scanning of each line laser in the standard calibration environment by the central processor, the method further includes: interpolating the angle-distance data; and performing cross-correlation operation on the distance data of the interpolated reference channel and the distance data of each interpolated channel to be corrected.
In one embodiment, the step of interpolating the angle-distance data by the central processor is a linear interpolation.
In one embodiment, the angle step of the linear interpolation is 0.001-0.003 degrees.
According to the method and the system, the angle-distance data of the multi-line laser in the standard calibration environment are obtained, cross-correlation operation is performed according to the distance data to obtain a cross-correlation curve, and the horizontal offset angle is obtained through the cross-correlation curve. Therefore, the horizontal installation angle of the laser can be corrected, and installation errors are eliminated. The method realizes single factor correction, and has simple calibration environment and easy implementation.
Drawings
FIG. 1 is a schematic view of a multi-line lidar laser beam scan;
FIG. 2a is a schematic diagram of the case where the horizontal light-emitting angles of the multi-line laser are consistent;
FIG. 2b is a schematic diagram illustrating a situation where horizontal light-emitting angles of the multi-line laser are not the same;
FIG. 3 is a flowchart of a method for calibrating a horizontal installation angle of a multi-line lidar according to an embodiment;
FIGS. 4a and 4b illustrate two different standard calibration environments;
FIG. 5 is a top view of a multiline lidar positioned in a four sided enclosure environment;
FIG. 6 is an angle-distance curve for a two-line laser;
FIG. 7 is a cross-correlation curve;
FIG. 8 is a schematic illustration of interpolation on an angle-distance curve;
FIG. 9 is a block diagram of a multi-line lidar system according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 3 is a flowchart of a method for correcting a horizontal installation angle of a multiline lidar according to an embodiment. Referring to fig. 3, the method includes the following steps S110 to S160.
Step S110: and setting a standard calibration environment. The standard calibration environment provides at least two scanned surfaces and at least one vertical edge formed by the meeting of the at least two scanned surfaces. Fig. 4a and 4b show two different standard calibration environments, a three-sided enclosure environment and a four-sided enclosure environment. Wherein, trilateral enclosure environment cross section is triangle-shaped, provides 3 faces and 3 vertical edges scanned, and tetrahedral enclosure environment cross section is the quadrangle, provides 4 faces and 4 vertical edges scanned. The triangle or quadrangle can be regular triangle or square, and can also be irregular triangle or quadrangle with other forms. It is understood that the standard calibration environment may also be a multi-faceted bounding wall environment with other polygonal cross-sections. Alternatively, the standard calibration environment may be unsealed, as long as it provides at least one edge. In order to obtain a better correction effect, a closed standard calibration environment is generally adopted.
Step S120: and placing the multi-line laser radar in the standard calibration environment, and scanning the standard calibration environment. Referring to fig. 5, a four-sided walled enclosure 100 is illustrated in which a multiline lidar 200 is disposed. The laser of the multiline lidar 200 scans the four-sided enclosure environment 100 around 360 degrees.
Step S130: and acquiring angle-distance data generated by each line of laser in the process of scanning the standard calibration environment. Each line laser has an initial position when scanning, namely, the scanning starts from the initial position. The angle of the initial position is 0 degrees, and the angle rotated relative to the initial angle is the angle scanned by the laser. In the scanning process of the laser, the distances of the wall surfaces obtained by the laser at different angles are also different, and the angle data and the distance data of the wall surfaces can be recorded in pairs to obtain angle-distance data.
Referring to fig. 6, the angle-distance curve obtained from the two line laser (laser 1 and laser 2) scan in this four sided fence environment. It can be seen that the initial position of the laser 1 is the direction indicated by the solid arrow in fig. 5, and after the laser sweeps through an angle of 45 degrees, the laser reaches the first edge, and the distance reaches the first peak value; after the laser scans an angle of 90 degrees, the distance reaches a first valley value; after the laser sweeps through an angle of 135 degrees, the distance reaches a second peak, … …. The same distance (e.g., the first peak) will occur with a delay due to the deviation of the horizontal mounting angle of the laser 2.
Step S140: taking one line of laser as a reference channel and the rest laser as channels to be corrected, and performing cross-correlation operation on distance data D1 of the reference channel and distance data Di of each channel to be corrected: [ Ai, Bi ] ═ xcorr (D1, Di), and a cross-correlation curve with the abscissa as Bi and the ordinate as Ai was obtained.
The method of this embodiment may be applied to a variety of multiline lidar such as 8-line, 16-line, 32-line and even 64-line lidar. The purpose of horizontal installation angle correction is to make all lasers emit light in the same direction in the horizontal direction, so that one line laser can be selected as a reference, and the other lasers are aligned with the selected laser to achieve the purpose. For example, for a 16 line lidar, one line laser is selected and the remaining 15 line lasers are all corrected for horizontal offset angle from the selected laser.
In this embodiment, a cross-correlation operation is employed to obtain the horizontal offset angle between the reference laser and the other laser. For the 16-line laser radar, the selected one-line laser obtains the distance data D1, and for each laser to be corrected, obtains the distance data Di (i is more than or equal to 2 and less than or equal to 16). Performing cross-correlation operation on the distance data D1 of the reference channel and the distance data Di of each channel to be corrected: [ Ai, Bi ] ═ xcorr (D1, Di).
Where [ Ai, Bi ] ═ xcorr (D1, Di) can be used to estimate the sequence in the stochastic process, where it can be used to derive the cross-correlation curve of the two channels. Fig. 7 shows a cross-correlation curve with hysteresis index k × Bi on the abscissa and amplitude Ai on the ordinate. When the two-line laser has horizontal angle deviation, the abscissa corresponding to the maximum amplitude of the cross-correlation curve is greater than 0 or less than 0 and is not equal to 0.
Step S150: and taking an abscissa corresponding to the maximum value of the ordinate of the cross-correlation curve as a horizontal offset angle corresponding to the channel to be corrected. Each channel to be corrected can obtain a cross-correlation curve with the reference channel, and the horizontal offset angle to be adjusted of each line laser can be correspondingly obtained.
Step S160: and correcting the horizontal installation angle of the corresponding laser by using the horizontal offset angle.
In the method of the embodiment, the cross-correlation curve is obtained by obtaining the angle-distance data of the multi-line laser in the standard calibration environment and performing cross-correlation operation according to the distance data, and the horizontal offset angle is obtained by using the cross-correlation curve. Therefore, the horizontal installation angle of the laser can be corrected, and installation errors are eliminated. The method realizes single factor correction, and has simple calibration environment and easy implementation.
In one embodiment, after step S130, the method further includes: interpolating the angle-distance data. The lasers all have a fixed emission frequency, for example 30HZ, i.e. 30 shots per second and laser echo signals are acquired. Even if the laser is rotating slowly, the angle-distance data obtained is not continuous, and there may be some angle-distance data skipped. In order to improve the accuracy of the cross-correlation operation, the obtained angle-distance data can be interpolated to supplement the data between the spaced points, and the accuracy of the cross-correlation operation can be improved by using more data.
Referring to fig. 8, there is an interpolation of one of the line lasers on one of the angle-distance curves. In fig. 8, the hollow points are actual angle-distance points obtained by scanning, and there may be a discontinuity between the hollow points. By interpolation, a greater density of fill between the empty dots can be made.
In one embodiment, the interpolation is linear in angle. I.e. between two angle-distance points, the interpolation is determined in a linear manner. For example, 100 points are inserted from (200 °,800cm) to (220.1 °,805cm), the distance increases by 0.05cm per angle of 0.001 °.
In one embodiment, the step size of the linear interpolation is 0.001-0.003 degrees.
Based on the same inventive concept, a multiline lidar system is provided below. As shown in fig. 9.
Specifically, the data processing apparatus 320 includes a central processor 321, a memory 322, and a radar signal processing unit 323. The memory 322 stores a processing instruction, the radar signal processing unit 323 is configured to obtain raw data according to laser echo signal processing, and the central processing unit 321 is configured to execute a method for calculating a horizontal angle offset according to the raw data and the processing instruction. The method needs to configure a standard calibration environment first, and reference may be made to steps S110 to S120 in the above method embodiment. Then, the method for calculating the horizontal angle offset is executed, which includes steps S210 to S230.
Step S210: and acquiring angle-distance data generated by each line of laser in the process of scanning the standard calibration environment. Each line laser has an initial position when scanning, namely, the scanning starts from the initial position. The angle of the initial position is 0 degrees, and the angle rotated relative to the initial angle is the angle scanned by the laser. In the scanning process of the laser, the distances of the wall surfaces obtained by the laser at different angles are also different, and the angle data and the distance data of the wall surfaces can be recorded in pairs to obtain angle-distance data.
Referring to fig. 6, the angle-distance curve obtained from the two line laser (laser 1 and laser 2) scan in this four sided fence environment. It can be seen that the initial position of the laser 1 is the direction indicated by the solid arrow in fig. 5, and after the laser sweeps through an angle of 45 degrees, the laser reaches the first edge, and the distance reaches the first peak value; after the laser scans an angle of 90 degrees, the distance reaches a first valley value; after the laser sweeps through an angle of 135 degrees, the distance reaches a second peak, … …. The same distance (e.g., the first peak) will occur with a delay due to the deviation of the horizontal mounting angle of the laser 2.
Step S220: taking one line of laser as a reference channel and the rest laser as channels to be corrected, and performing cross-correlation operation on distance data D1 of the reference channel and distance data Di of each channel to be corrected: the cross-correlation curve with the abscissa Bi and the ordinate Ai is obtained by xcorr (D1, Di).
The method of this embodiment may be applied to a variety of multiline lidar such as 8-line, 16-line, 32-line and even 64-line lidar. The purpose of horizontal installation angle correction is to make all lasers emit light in the same direction in the horizontal direction, so that one line laser can be selected as a reference, and the other lasers are aligned with the selected laser to achieve the purpose. For example, for a 16 line lidar, one line laser is selected and the remaining 15 line lasers are all corrected for horizontal offset angle from the selected laser.
In this embodiment, a cross-correlation operation is employed to obtain the horizontal offset angle between the reference laser and the other laser. For the 16-line laser radar, the selected one-line laser obtains the distance data D1, and for each laser to be corrected, obtains the distance data Di (i is more than or equal to 2 and less than or equal to 16). Performing cross-correlation operation on the distance data D1 of the reference channel and the distance data Di of each channel to be corrected: [ Ai, Bi ] ═ xcorr (D1, Di).
Where [ Ai, Bi ] ═ xcorr (D1, Di) can be used to estimate the sequence in the stochastic process, where it can be used to derive the cross-correlation curve of the two channels. Fig. 7 shows a cross-correlation curve with hysteresis index k × Bi on the abscissa and amplitude Ai on the ordinate. When the two-line laser has horizontal angle deviation, the abscissa corresponding to the maximum amplitude of the cross-correlation curve is greater than 0 or less than 0 and is not equal to 0.
Step S230: and taking an abscissa corresponding to the maximum value of the ordinate of the cross-correlation curve as the horizontal offset angle of each line of laser relative to the reference laser. Each channel to be corrected can obtain a cross-correlation curve with the reference channel, and the horizontal offset angle to be adjusted of each line laser can be correspondingly obtained.
The obtained horizontal offset angle can then be used to correct deviations in the installation angle, for example by manual reinstallation.
Further, after the step of acquiring the angle-distance data generated during the scanning of each line of laser light in the standard calibration environment, the central processor 321 further includes: interpolating the angle-distance data.
The lasers all have a fixed emission frequency, for example 30HZ, i.e. 30 shots per second and laser echo signals are acquired. Even if the laser is rotating slowly, the angle-distance data obtained is not continuous, and there may be some angle-distance data skipped. In order to improve the accuracy of the cross-correlation operation, the obtained angle-distance data can be interpolated to supplement the data between the spaced points, and the accuracy of the cross-correlation operation can be improved by using more data.
Referring to fig. 8, there is an interpolation of one of the line lasers on one of the angle-distance curves. In fig. 8, the hollow points are actual angle-distance points obtained by scanning, and there may be a discontinuity between the hollow points. By interpolation, a greater density of fill between the empty dots can be made.
In one embodiment, the interpolation is linear in angle. I.e. between two angle-distance points, the interpolation is determined in a linear manner. For example, 100 points are inserted from (200 °,800cm) to (220.1 °,805cm), the distance increases by 0.05cm per angle of 0.001 °.
In one embodiment, the step size of the linear interpolation is 0.001-0.003 degrees.
In the laser radar system of the embodiment, the cross-correlation curve is obtained by obtaining the angle-distance data of the multi-line laser in the standard calibration environment and performing cross-correlation operation according to the distance data, and the horizontal offset angle is obtained by using the cross-correlation curve. Therefore, the horizontal installation angle of the laser can be corrected, and installation errors are eliminated. The method realizes single factor correction, and has simple calibration environment and easy implementation.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for correcting the horizontal installation angle of a multiline laser radar comprises the following steps:
setting a standard calibration environment; the standard calibration environment provides at least two scanned surfaces and at least one vertical edge formed by the connection of the at least two scanned surfaces;
placing the multiline laser radar in the standard calibration environment and scanning the standard calibration environment;
acquiring angle-distance data generated by each line laser in the process of scanning the standard calibration environment;
taking one of the line lasers as a reference channel and the rest lasers as channels to be corrected, and performing cross-correlation operation on distance data D1 of the reference channel and distance data Di of each channel to be corrected:
[Ai,Bi]＝xcorr(D1,Di)
obtaining a cross-correlation curve with the abscissa as Bi and the ordinate as Ai; taking an abscissa corresponding to the maximum value of the ordinate of the cross-correlation curve as a horizontal offset angle corresponding to the channel to be corrected;
and correcting the horizontal installation angle of the corresponding laser by using the horizontal offset angle.
2. The method for correcting the horizontal installation angle of the multiline lidar of claim 1, wherein the standard calibration environment is a four-sided wall environment, and four scanned surfaces and four vertical edges formed by the four scanned surfaces are provided.
3. The method of claim 1, further comprising, after the step of obtaining angle-distance data generated by each line laser during scanning of the standard calibration environment: interpolating the angle-distance data;
and performing the cross-correlation operation on the interpolated distance data of the reference channel and the interpolated distance data of each channel to be corrected.
4. The method of claim 3, wherein the step of interpolating the angle-distance data is a linear interpolation.
5. The method for correcting the horizontal installation angle of the multiline lidar according to claim 4, wherein the linear interpolation has an angle step of 0.001 to 0.003 degrees.
6. The method for correcting the horizontal installation angle of the multiline lidar according to any one of claims 1 to 5, wherein the multiline lidar is a 16-line, 32-line or 64-line lidar.
7. A multiline lidar system comprising:
the multi-line laser radar is used for transmitting laser signals and receiving reflected laser echo signals;
a data processing device for executing a method of calculating a horizontal angle offset from the laser echo signal;
the data processing device comprises a memory, a radar signal processing unit and a central processing unit; the storage is stored with a processing instruction, the radar signal processing unit is used for processing laser echo signals to obtain original data, and the central processing unit is used for executing the following steps according to the original data and the processing instruction:
acquiring angle-distance data generated by each line laser in the process of scanning a standard calibration environment;
taking one of the line lasers as a reference channel and the rest lasers as channels to be corrected, and performing cross-correlation operation on distance data D1 of the reference channel and distance data Di of each channel to be corrected:
[Ai,Bi]＝xcorr(D1,Di)
obtaining a cross-correlation curve with the abscissa as Bi and the ordinate as Ai; and taking an abscissa corresponding to the maximum value of the ordinate of the cross-correlation curve as the horizontal offset angle of each line of laser relative to the reference laser.
8. The multiline lidar system of claim 7 wherein the central processor, after performing the step of obtaining angle-distance data generated during scanning of each line laser through the standard calibration environment, further comprises: interpolating the angle-distance data; and performing cross-correlation operation on the distance data of the interpolated reference channel and the distance data of each interpolated channel to be corrected.
9. The multiline lidar system of claim 8 wherein the step of interpolating the angle-distance data performed by the central processor is linear interpolation.
10. The multiline lidar system of claim 9 wherein the linear interpolation is in angular steps of 0.001 to 0.003 degrees.
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| JP5810287B2 (en) * | 2010-07-29 | 2015-11-11 | パナソニックＩｐマネジメント株式会社 | Radar equipment |
| CN102508255A (en) * | 2011-11-03 | 2012-06-20 | 广东好帮手电子科技股份有限公司 | Vehicle-mounted four-wire laser radar system and circuit and method thereof |
| BR102014006109B1 (en) * | 2014-03-14 | 2021-10-19 | Embraer S.A. | HIGH-PRECISION RADAR FOR AIR TARGET MONITORING |
| CN104156718B (en) * | 2014-08-20 | 2017-10-17 | 电子科技大学 | A kind of license plate image vertical skew correction method |
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