CN110333503B - Laser radar calibration method and device and electronic equipment - Google Patents
Laser radar calibration method and device and electronic equipment Download PDFInfo
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- CN110333503B CN110333503B CN201910458039.0A CN201910458039A CN110333503B CN 110333503 B CN110333503 B CN 110333503B CN 201910458039 A CN201910458039 A CN 201910458039A CN 110333503 B CN110333503 B CN 110333503B
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Abstract
The embodiment of the invention provides a laser radar calibration method, a laser radar calibration device and electronic equipment, wherein the method comprises the following steps: acquiring first point cloud data and second point cloud data which are obtained by respectively measuring a jig by a first laser radar and a second laser radar; fitting a plurality of first reference planes and second reference planes of the jig according to the first point cloud data and the second point cloud data respectively; and determining the position calibration relation of the rotation and/or translation of the first laser radar relative to the second laser radar according to the distances from a plurality of points on the first reference planes to the corresponding second reference planes. According to the embodiment of the invention, the relative position relation of the two laser radars is calibrated by using the jig with a plurality of planes, and the relative position relation is determined according to the distance from the point on one plane measured by one laser radar to the plane measured by the other laser radar, so that the static calibration of the laser radars is realized, and the convenience of calibration is improved.
Description
Technical Field
The application relates to a laser radar calibration method and device and electronic equipment, and belongs to the technical field of computers.
Background
The laser radar is used as a distance measuring device, can measure the distance from an object in the environment to the laser in real time, and is an indispensable sensor in the unmanned field. In view of the increasing number of devices or systems, a plurality of relatively fixed-position lidars are used simultaneously, each having a respective coordinate system, i.e. the position data measured by each lidar is based on its own coordinate system. In order to unify the position data of the plurality of lidars, the relative positional relationship between the lidars needs to be calibrated, so that the measurement data of the plurality of lidars can be comprehensively utilized. In the prior art, a dynamic calibration mode is generally adopted for the calibration of the laser radar, namely, the laser radar or a calibrated reference object needs to be moved, and the calibration processing of the laser radar is very inconvenient.
Disclosure of Invention
The embodiment of the invention provides a laser radar calibration method, a laser radar calibration device and electronic equipment, so as to realize static calibration of the laser radar.
In order to achieve the above object, an embodiment of the present invention provides a method for calibrating a laser radar, including:
acquiring first point cloud data and second point cloud data which are obtained by respectively measuring a jig by a first laser radar and a second laser radar;
fitting a plurality of first reference planes and second reference planes of the jig according to the first point cloud data and the second point cloud data respectively;
and determining the position calibration relation of the rotation and/or translation of the first laser radar relative to the second laser radar according to the distances from a plurality of points on the first reference planes to the corresponding second reference planes.
The embodiment of the invention also provides a laser radar calibration device, which comprises:
the point cloud data acquisition module is used for acquiring first point cloud data and second point cloud data which are obtained by respectively measuring the jig by the first laser radar and the second laser radar;
the plane fitting module is used for fitting a plurality of first reference planes and second reference planes of the jig according to the first point cloud data and the second point cloud data respectively;
and the position calibration relation processing module is used for determining the position calibration relation of the rotation and/or translation of the first laser radar relative to the second laser radar according to the distances from a plurality of points on the first reference planes to the corresponding second reference planes.
The embodiment of the invention also provides electronic equipment, which comprises:
a memory for storing a program;
and the processor is used for running the program stored in the memory so as to execute the laser radar calibration method.
In the embodiment of the invention, the relative position relationship between the two laser radars is calibrated by using the jig with a plurality of planes, and the relative position relationship is determined according to the distance from the point on one plane measured by one laser radar to the plane measured by the other laser radar, so that the static calibration of the laser radars is realized, and the calibration convenience is improved.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
Drawings
FIG. 1 is a flow chart of a method for calibrating a lidar according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an application scenario according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a laser radar calibration device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The technical scheme of the invention is further described by the following specific examples.
In the embodiment of the invention, the calibration processing of the lidar is to acquire the relative rotational and/or translational positional relationship between the lidars, so as to perform the mutual conversion of the positional data measured by the lidars.
In the prior art, a dynamic calibration mode is generally adopted for the calibration of the laser radar, and the laser radar or a calibration reference object needs to be moved in the mode, so that the calibration processing of the laser radar is very inconvenient. In the embodiment of the invention, a static calibration mode is provided, and the laser radar or a calibrated reference object is not required to be moved, so that the calibration of the relative position of the laser radar is completed under static state.
The laser radar calibration method provided by the embodiment of the invention can realize static calibration between two laser radars, namely, the relative position relation of rotation and/or translation of one laser radar relative to the other laser radar is calibrated. For convenience of description, one of the lidars as a position reference is referred to as a second lidar, and the other lidar is referred to as a first lidar. In the calibration process for the two lidars, either one of the lidars may be used as the second lidar or the first lidar.
Example 1
As shown in fig. 1, which is a flow chart of a method for calibrating a laser radar according to an embodiment of the present invention, the method for calibrating the laser radar mainly includes:
s101: and acquiring first point cloud data and second point cloud data which are obtained by respectively measuring the jig by the first laser radar and the second laser radar. Wherein, here, first point cloud data and second point cloud data are all with first laser radar and second laser radar's respective coordinate system as benchmark. The jig is used as a calibration reference, and the jig may include a plurality of planes, thereby forming a plurality of calibration measurement references. In the case where it is desired to calibrate the positional relationship of rotation and translation of two lidars, the jig may comprise at least three preset angles to each other, the preset angles preferably being perpendicular to each other. In addition, the jig can be a plurality of the first laser radar and the second laser radar, and the first laser radar and the second laser radar are arranged around the jig, so that measurement data for calibration are provided from a plurality of angles and directions, and the calibration between the laser radars can be well applied to measurement in all directions.
S102: and fitting a plurality of first reference planes and second reference planes of the jig according to the first point cloud data and the second point cloud data respectively. In particular, plane equations for the first reference plane and the second reference plane may be fitted from a large amount of point cloud data.
S103: and determining the position calibration relation of the rotation and/or translation of the first laser radar relative to the second laser radar according to the distances from a plurality of points on the first reference planes to the corresponding second reference planes. The corresponding second reference plane is a reference plane fitted by measuring the same plane of the jig by the pointer. The first laser radar and the second laser radar measure the same plane and then fit the same plane to the second reference plane, and the second laser radar and the first laser radar measure the same plane, and the second laser radar actually measure the same plane, but the difference in numerical value exists due to the difference of the coordinate systems, so that the relative position relationship between the laser radars can be obtained by calculating the distances from the points on the first reference plane to the corresponding second reference plane.
Further, in order to make the calibration of the relative positional relationship between the two lidars more accurate, the steps may specifically include:
s1031: calculating distances from a plurality of points on the plurality of first reference planes to a corresponding plurality of second reference planes;
s1032: and determining a rotation translation matrix of the first laser radar and the second laser radar by using an iterative optimization algorithm, so that the sum of distances from a plurality of points on a plurality of first reference planes to corresponding second reference planes is minimum. In the case of the minimum sum of the distances, it is explained that the deviation of the relative position calibration between the two coordinate systems is minimum in all directions and angles, so that a more accurate calibration result can be obtained.
The above-mentioned processing method for calibrating the relative positions of two laser radars is introduced, in fact, a plurality of laser radars can be calibrated based on the above-mentioned method, and the principle is that the calibration among the plurality of laser radars is processed according to the two-by-two calibration. Specifically, the method may further include calibration processing for the third lidar other than the two:
acquiring third point cloud data obtained by respectively measuring the jig by a third laser radar;
fitting a plurality of third reference planes of the jig according to the third point cloud data;
and determining the position calibration relation of the rotation and/or translation of the third laser radar relative to the second laser radar according to the distances from a plurality of points on a plurality of third reference planes to the corresponding second reference planes.
The above calibration process for the third lidar may refer to the previous calibration process for the first lidar, and the principle thereof is the same. The above examples are all calibration processing with the second lidar as a reference, so that the calibration data of the plurality of lidars are unified in the coordinate system. Of course, in the calibration processing for the third lidar, the calibration processing may be performed with the first lidar already calibrated as a reference, and then the calibration data with the second lidar as a reference may be calculated based on the calibration relationship between the first lidar and the second lidar.
Embodiments of the present invention will be further described below with reference to a practical example of application.
Fig. 2 is a schematic diagram of an application scenario according to an embodiment of the present invention. As shown in the figure, the scene comprises four jigs (jigs 1 to 4), and two laser radars 5 and 6 fixed in relative positions, the two laser radars to be calibrated are placed approximately at the center positions of the four jigs, each jig comprises three mutually perpendicular planes, and the four jigs form twelve planes in total. In the application scenario shown in fig. 2, with the lidar 5 as a calibration reference, it is desirable to calculate the relative positional relationship of the lidar 6 with respect to the lidar 5. That is, the lidar 5 corresponds to the second lidar described above, and the lidar 6 corresponds to the first lidar described above.
As shown in the figure, two lidars 5 and 6 are placed at positions shown in the figure, and the two lidars 5 and 6 respectively lases the surroundings to detect the surrounding environment and collect point cloud data.
In the point cloud data of the lidar 5, the point cloud data of three planes of each jig are extracted, and a plane equation is fitted, as in the scene shown in fig. 2, twelve planes can be fitted in total for four jigs.
In the point cloud data of the lidar 6, 3 planes of each jig are extracted, and a plane equation is fitted, and in the same way, twelve planes can be extracted, and points on the twelve planes can be acquired.
Calculating the distance from a point on a plane in the point cloud data of lidar 6 to a corresponding plane in the point cloud data of lidar 5, here using dist i Representing the number of points represented by i and calculating the sum of all distances calculated, where sum (dist i ) And (3) representing.
Sum of all distances sum (dist) i ) Will vary with the rotational translational relationship between lidars 5 and 6. Thus, using iterative optimization methods to find a rotational translational relationship allows sum (dist i ) Minimum. The calculation process can be described as follows:
(r，t)＝Arg Min Sum(dist i ) … … … … … … … … … … … (1)
In this formula, r is a three-dimensional rotation vector, t is a three-dimensional translation vector, and the combination of r and t represents the rotation-translation relationship between the lidars 5 and 6, argMin means that the following Sum (dist i ) The output when the function value is the smallest, i.e. Sum (dist) i ) Least hour (r, t). As previously described, dist i For the distance from the point on the plane in the point cloud data of the laser radar 6 to the corresponding plane in the point cloud data of the laser radar 5, (r, t) is correspondingly calculated to represent the rotation and translation relationship between the laser radar 6 and the laser radar 5, that is, the coordinate values in the coordinate system of the laser radar 6 can be converted into the laser radar by taking the laser radar 5 as a reference through (r, t)And (3) reaching a coordinate value in a 5 coordinate system, namely the (r, t) is the position calibration relation of the two laser radars to be obtained in the embodiment of the invention. (r, t) can also be expressed in the form of a rotation translation matrix.
In addition, the distance from the point on the plane in the point cloud data of the laser radar 6 to the corresponding plane in the point cloud data of the laser radar 5 may be calculated by the following formula:
wherein, (x) i ,y i ,z i ) A is the point coordinates on the plane in the point cloud data of the laser radar 6 k X+B k Y+C k Z+D k =0 is the corresponding plane equation in the point cloud data of the lidar 6, and X, Y, Z in the equation represents the three-dimensional point coordinate variables in the fitted plane equation.
In the embodiment of the invention, the relative position relationship between the two laser radars is calibrated by using the jig with a plurality of planes, and the relative position relationship is determined according to the distance from the point on one plane measured by one laser radar to the plane measured by the other laser radar, so that the static calibration of the laser radars is realized, and the calibration convenience is improved. In addition, a plurality of jigs are adopted to collect data of a plurality of directions and point clouds, and a rotation translation matrix is found by utilizing an iterative optimization mode, so that the sum of distances from a plurality of points on a plurality of planes measured by one laser radar to a plurality of corresponding planes measured by the other laser radar is minimum, and the rotation translation matrix which is measured in a plurality of directions can be obtained accurately and better.
Example two
Fig. 3 is a schematic structural diagram of a calibration device of a lidar according to an embodiment of the present invention, where the device includes a point cloud data acquisition module 11, a plane fitting module 12, and a location calibration relationship processing module 13.
The point cloud data acquisition module 11 is configured to acquire first point cloud data and second point cloud data obtained by respectively measuring the jig by the first laser radar and the second laser radar. The jig is a plurality of, and is arranged around the first laser radar and the second laser radar.
The plane fitting module 12 is configured to fit a plurality of first reference planes and second reference planes of the jig according to the first point cloud data and the second point cloud data, respectively.
And the position calibration relation processing module 13 is used for determining the position calibration relation of the rotation and/or translation of the first laser radar relative to the second laser radar according to the distances from a plurality of points on a plurality of first reference planes to the corresponding second reference planes.
The fixture includes at least three planes at preset angles, and the processing in the position calibration relation processing module 13 may specifically include: calculating distances from a plurality of points on the plurality of first reference planes to a corresponding plurality of second reference planes; and determining a rotation translation matrix of the first laser radar and the second laser radar by using an iterative optimization algorithm, so that the sum of distances from a plurality of points on a plurality of first reference planes to corresponding second reference planes is minimum.
Wherein calculating distances from the plurality of points on the plurality of first reference planes to the corresponding plurality of second reference planes may include: and calculating the distances from the plurality of points to the second reference plane according to the coordinates of the plurality of points and the plane equation of the fitted corresponding second reference plane. For a specific distance calculation method, reference may be made to the above formula (2).
Example III
The foregoing embodiment describes the flow process of the laser radar calibration method and the structure of the calibration device, and the functions of the method and the device may be completed by an electronic device, as shown in fig. 4, which is a schematic structural diagram of the electronic device according to the embodiment of the present invention, and specifically includes: a memory 110 and a processor 120.
A memory 110 for storing a program.
In addition to the programs described above, the memory 110 may also be configured to store various other data to support operations on the electronic device. Examples of such data include instructions for any application or method operating on the electronic device, contact data, phonebook data, messages, pictures, videos, and the like.
The memory 110 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
The processor 120 is coupled to the memory 110 and is configured to execute the program in the memory 110 to perform the operation steps of the laser radar calibration method described in the foregoing embodiment.
Further, the processor 120 may also include the various modules described in the previous embodiments to perform the processing of lidar calibration, and the memory 110 may be used, for example, to store data and/or output data required for the modules to perform operations.
The above detailed description of the processing procedure, the detailed description of the technical principle and the detailed analysis of the technical effect are described in the foregoing embodiments, and are not repeated herein.
Further, as shown, the electronic device may further include: communication component 130, power component 140, audio component 150, display 160, and other components. The drawing shows only a part of the components schematically, which does not mean that the electronic device comprises only the components shown in the drawing.
The communication component 130 is configured to facilitate communication between the electronic device and other devices in a wired or wireless manner. The electronic device may access a wireless network based on a communication standard, such as WiFi,2G, or 3G, or a combination thereof. In one exemplary embodiment, the communication component 130 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 130 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.
A power supply assembly 140 provides power to the various components of the electronic device. Power supply components 140 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for electronic devices.
The audio component 150 is configured to output and/or input audio signals. For example, the audio component 150 includes a Microphone (MIC) configured to receive external audio signals when the electronic device is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 110 or transmitted via the communication component 130. In some embodiments, the audio assembly 150 further includes a speaker for outputting audio signals.
The display 160 includes a screen, which may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or sliding action, but also the duration and pressure associated with the touch or sliding operation.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. A laser radar calibration method comprises the following steps:
acquiring first point cloud data and second point cloud data which are obtained by respectively measuring a jig by a first laser radar and a second laser radar;
fitting a plurality of first reference planes and second reference planes of the jig according to the first point cloud data and the second point cloud data respectively;
and determining a position calibration relation of rotation and/or translation of the first laser radar relative to the second laser radar according to distances from a plurality of points on the first reference plane to the corresponding second reference plane, wherein the first reference plane and the corresponding second reference plane are the reference planes which are fitted by measuring the same plane of the jig.
2. The method of claim 1, wherein the jig comprises at least three planes at a predetermined angle to each other,
determining a positional calibration relationship of rotation and/or translation of the first lidar relative to the second lidar according to the distances from the plurality of points on the first reference plane to the corresponding second reference plane comprises:
calculating distances from a plurality of points on a plurality of first reference planes to a corresponding plurality of second reference planes;
and determining a rotation translation matrix of the first laser radar and the second laser radar by using an iterative optimization algorithm, so that the sum of distances from a plurality of points on the plurality of first reference planes to the corresponding second reference planes is minimum.
3. The method of claim 2, wherein calculating distances of a plurality of points on a plurality of the first reference planes to a corresponding plurality of the second reference planes comprises:
and calculating the distances from the plurality of points to the second reference plane according to the coordinates of the plurality of points and the fitted plane equation of the corresponding second reference plane.
4. The method of claim 1, wherein the jig is a plurality of arrayed around the first and second lidars.
5. The method of claim 1, further comprising:
acquiring third point cloud data obtained by respectively measuring the jig by a third laser radar;
fitting a plurality of third reference planes of the jig according to the third point cloud data;
and determining the position calibration relation of the rotation and/or translation of the third laser radar relative to the second laser radar according to the distances from a plurality of points on the third reference planes to the corresponding second reference planes.
6. A laser radar calibration device, comprising:
the point cloud data acquisition module is used for acquiring first point cloud data and second point cloud data which are obtained by respectively measuring the jig by the first laser radar and the second laser radar;
the plane fitting module is used for fitting a plurality of first reference planes and second reference planes of the jig according to the first point cloud data and the second point cloud data respectively;
and the position calibration relation processing module is used for determining the position calibration relation of the rotation and/or translation of the first laser radar relative to the second laser radar according to the distances from a plurality of points on the first reference plane to the corresponding second reference plane, wherein the first reference plane and the corresponding second reference plane are the reference planes which are fitted by measuring the same plane of the jig.
7. The apparatus of claim 6, wherein the jig comprises at least three planes at a predetermined angle to each other,
determining a positional calibration relationship of rotation and/or translation of the first lidar relative to the second lidar according to the distances from the plurality of points on the first reference plane to the corresponding second reference plane comprises:
calculating distances from a plurality of points on a plurality of first reference planes to a corresponding plurality of second reference planes;
and determining a rotation translation matrix of the first laser radar and the second laser radar by using an iterative optimization algorithm, so that the sum of distances from a plurality of points on the plurality of first reference planes to the corresponding second reference planes is minimum.
8. The apparatus of claim 7, wherein calculating distances of a plurality of points on a plurality of the first reference planes to a corresponding plurality of the second reference planes comprises:
and calculating the distances from the plurality of points to the second reference plane according to the coordinates of the plurality of points and the fitted plane equation of the corresponding second reference plane.
9. The apparatus of claim 6, wherein the jig is a plurality of arrayed around the first and second lidars.
10. An electronic device, comprising:
a memory for storing a program;
a processor for executing the program stored in the memory to perform the calibration method of the lidar according to any of claims 1 to 5.
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| US11360197B2 (en) * | 2020-01-07 | 2022-06-14 | Luminar, Llc | Calibration of sensor systems |
| CN111007485B (en) * | 2020-03-09 | 2020-10-27 | 中智行科技有限公司 | Image processing method and device and computer storage medium |
| CN113466834A (en) * | 2020-03-12 | 2021-10-01 | 华为技术有限公司 | Laser radar parameter calibration method and device |
| CN113495256B (en) * | 2020-04-01 | 2024-04-05 | 北京京东乾石科技有限公司 | Method and device for determining accuracy of calibration result among multiple laser radars |
| CN111190153B (en) * | 2020-04-09 | 2020-08-25 | 上海高仙自动化科技发展有限公司 | External parameter calibration method and device, intelligent robot and computer readable storage medium |
| 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 |
| CN112558043B (en) * | 2020-11-17 | 2022-07-22 | 浙江众合科技股份有限公司 | Laser radar calibration method and electronic equipment |
| CN113077521B (en) * | 2021-03-19 | 2022-11-01 | 浙江华睿科技股份有限公司 | Camera calibration method and device |
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