CN110687521B - 一种车载激光雷达标定的方法 - Google Patents
一种车载激光雷达标定的方法 Download PDFInfo
- Publication number
- CN110687521B CN110687521B CN201910976456.4A CN201910976456A CN110687521B CN 110687521 B CN110687521 B CN 110687521B CN 201910976456 A CN201910976456 A CN 201910976456A CN 110687521 B CN110687521 B CN 110687521B
- Authority
- CN
- China
- Prior art keywords
- laser radar
- calibration plate
- data
- points
- laser
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 239000011159 matrix material Substances 0.000 claims abstract description 24
- 238000013519 translation Methods 0.000 claims abstract description 19
- 238000006243 chemical reaction Methods 0.000 claims abstract description 8
- 230000009466 transformation Effects 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000013178 mathematical model Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000005070 sampling Methods 0.000 claims description 2
- 238000012216 screening Methods 0.000 claims description 2
- 230000001131 transforming effect Effects 0.000 claims description 2
- 239000002023 wood Substances 0.000 claims description 2
- 230000004927 fusion Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- 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
- G01S7/497—Means for monitoring or calibrating
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910976456.4A CN110687521B (zh) | 2019-10-15 | 2019-10-15 | 一种车载激光雷达标定的方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910976456.4A CN110687521B (zh) | 2019-10-15 | 2019-10-15 | 一种车载激光雷达标定的方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110687521A CN110687521A (zh) | 2020-01-14 |
CN110687521B true CN110687521B (zh) | 2023-05-16 |
Family
ID=69112689
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910976456.4A Active CN110687521B (zh) | 2019-10-15 | 2019-10-15 | 一种车载激光雷达标定的方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN110687521B (zh) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111830498A (zh) * | 2020-07-29 | 2020-10-27 | 成都纳雷科技有限公司 | 基于毫米波区域安防的多雷达自动组网方法及系统 |
CN112485774B (zh) * | 2020-11-26 | 2024-03-15 | 中国第一汽车股份有限公司 | 一种车载激光雷达标定方法、装置、设备及存储介质 |
CN113109791B (zh) * | 2021-03-15 | 2022-11-22 | 上海交通大学 | 一种车载激光雷达标定结果评价系统及方法 |
CN116068538B (zh) * | 2023-04-06 | 2023-07-18 | 中汽研(天津)汽车工程研究院有限公司 | 一种用于批量式车辆激光雷达的可调节标定系统和方法 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107976668B (zh) * | 2016-10-21 | 2020-03-31 | 法法汽车(中国)有限公司 | 一种确定相机与激光雷达之间的外参数的方法 |
CN106872963B (zh) * | 2017-03-31 | 2019-08-27 | 厦门大学 | 一种多组多线激光雷达的自动标定算法 |
CN108509918B (zh) * | 2018-04-03 | 2021-01-08 | 中国人民解放军国防科技大学 | 融合激光点云与图像的目标检测与跟踪方法 |
CN109712190A (zh) * | 2018-11-10 | 2019-05-03 | 浙江大学 | 三维激光扫描仪与三维激光雷达的外参标定方法 |
CN109581338B (zh) * | 2019-01-14 | 2021-01-08 | 中国科学院计算技术研究所 | 一种标定多激光雷达外参数的系统及其方法 |
CN110031824B (zh) * | 2019-04-12 | 2020-10-30 | 杭州飞步科技有限公司 | 激光雷达联合标定方法及装置 |
CN110148180B (zh) * | 2019-04-22 | 2021-06-08 | 河海大学 | 一种激光雷达与相机融合装置与标定方法 |
-
2019
- 2019-10-15 CN CN201910976456.4A patent/CN110687521B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN110687521A (zh) | 2020-01-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110687521B (zh) | 一种车载激光雷达标定的方法 | |
CN109459734B (zh) | 一种激光雷达定位效果评估方法、装置、设备及存储介质 | |
CN109143207B (zh) | 激光雷达内参精度验证方法、装置、设备及介质 | |
CN108921947B (zh) | 生成电子地图的方法、装置、设备、存储介质以及采集实体 | |
CN109270545B (zh) | 一种定位真值校验方法、装置、设备及存储介质 | |
CN114526745B (zh) | 一种紧耦合激光雷达和惯性里程计的建图方法及系统 | |
US7013235B2 (en) | Method, apparatus and program for determining growth of trees | |
CN112904317B (zh) | 一种多激光雷达与gnss_ins系统标定方法 | |
CN112034431B (zh) | 一种雷达和rtk的外参标定方法及装置 | |
CN112083441B (zh) | 激光雷达和毫米波雷达深度融合的障碍物检测方法及系统 | |
CN107817488A (zh) | 基于毫米波雷达与视觉融合的无人机避障装置及避障方法 | |
CN112684432B (zh) | 激光雷达标定方法、装置、设备及存储介质 | |
CN111308457B (zh) | 脉冲多普勒雷达寻北的方法、系统及存储介质 | |
CA2485707A1 (en) | Methods and apparatus for radar data processing | |
CN112462368B (zh) | 一种障碍物检测方法、装置、车辆及存储介质 | |
CN114972532B (zh) | 激光雷达之间的外参标定方法、装置、设备及存储介质 | |
WO2003096062A1 (en) | Method and apparatus for terrain correlation | |
CN110827358A (zh) | 一种应用于自动驾驶汽车的相机标定方法 | |
CN114966579A (zh) | 一种雷达系统的定标参数的获取方法及装置 | |
CN113566817B (zh) | 一种车辆定位方法及装置 | |
CN113296120B (zh) | 一种障碍物检测方法及终端 | |
CN113888463A (zh) | 车轮转角的检测方法、装置、电子设备及存储介质 | |
CN105372671A (zh) | 一种基于无人机的电力线三维重建系统 | |
CN113376643A (zh) | 距离检测方法、装置及电子设备 | |
CN116129669A (zh) | 一种基于激光雷达的车位测评方法、系统、设备及介质 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240328 Address after: Building 3, 7th Floor, Gaosheng Plaza, No. 163 Yingbin Avenue, Xinhua Street, Huadu District, Guangzhou City, Guangdong Province, 510802 Patentee after: Guangzhou Carl Power Technology Co.,Ltd. Country or region after: China Address before: 518118 No.1, Jinlong Avenue, pinghuan community, Malian street, Pingshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Shuxiang Technology Co.,Ltd. Country or region before: China |
|
CP03 | Change of name, title or address |
Address after: No. 1 Wulanmulun East Street, Kangbashi District, Ordos City, Inner Mongolia Autonomous Region, 017010 Patentee after: Ordos Kal Power Technology Co.,Ltd. Country or region after: China Address before: Building 3, 7th Floor, Gaosheng Plaza, No. 163 Yingbin Avenue, Xinhua Street, Huadu District, Guangzhou City, Guangdong Province, 510802 Patentee before: Guangzhou Carl Power Technology Co.,Ltd. Country or region before: China |