CN111398936B - Multi-path side laser radar point cloud registration device and using method thereof - Google Patents
Multi-path side laser radar point cloud registration device and using method thereof Download PDFInfo
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- CN111398936B CN111398936B CN202010167312.7A CN202010167312A CN111398936B CN 111398936 B CN111398936 B CN 111398936B CN 202010167312 A CN202010167312 A CN 202010167312A CN 111398936 B CN111398936 B CN 111398936B
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Abstract
The invention discloses a multi-path side laser radar point cloud registration device and a using method thereof. The fixing frame comprises two sections of hollow steel pipes which are mutually nested, and a round bottom plate at the bottom is used as a support; the horizontal circular surface searching arm comprises two sections of hollow steel pipes which are mutually nested and a reflector at one end; the fixing frame and the horizontal circular surface searching arm are connected together through a connecting device. The point cloud registration device can help people to find key points of different laser radar overlapping areas, the number of the key points is increased by changing the distribution position of the point cloud registration device, the point cloud registration of multiple laser radars is realized, and then the target of continuous long-distance tracking of the target is realized. The invention also discloses an installation and use method of the point cloud registration device.
Description
Technical Field
The invention relates to a multi-path side laser radar three-dimensional point cloud registration device and a use method thereof, belonging to the technical field of traffic engineering.
Background
The laser radar is used for ranging a target by emitting and receiving laser beams, so that the characteristics of the target, such as speed, position, shape and the like, are obtained, and the characteristics are presented in a point cloud form, so that the target is identified and tracked. The laser radar is widely applied to intelligent traffic systems, such as unmanned driving, intelligent detection, car networking technologies and the like. With the gradual reduction of the price of the laser radar, the installation mode of the laser radar is developed towards the roadside static arrangement direction from the traditional installation modes such as airborne arrangement, vehicle-mounted arrangement and the like. The laser radar installed on the roadside can be permanently arranged on a telegraph pole and a traffic signal lamp post, and can also be arranged on a tripod as a temporary data acquisition method. These lidar deployed on the road side are commonly referred to collectively as road side lidar.
One of the main uses of the roadside lidar is to collect real-time high-precision travel tracks of all road users in real time. After the collected point cloud is subjected to data processing, high-precision track data such as speed, acceleration, driving direction and the like of a road user can be extracted. However, since the detection range of one lidar is limited, in order to acquire the travel track of a road user in a large range, a plurality of lidars must be arranged along the road to continuously track the target. However, each lidar uses a local coordinate system with itself as the origin, which prevents the same target from being continuously tracked in multiple roadside lidar. In order to solve the problem, the position registration of a plurality of roadside laser radars is required, and point cloud data acquired by different laser radars are fused, namely three-dimensional point cloud registration.
The final goal of three-dimensional point cloud registration is to transform all local coordinate systems into one unified coordinate system. The key of three-dimensional point cloud registration is to find key features of points, lines and surfaces of different laser radar overlapping areas, but in order to reduce installation and maintenance cost, the distance between two laser radars is usually increased as much as possible when the laser radars are arranged on the road side. Whereas the density of points decreases with increasing distance in a lidar. Increasing the layout spacing between the lidar leads to a reduction in the overlap area. The inevitable requirement on how to carry out point cloud registration to realize continuous long-distance tracking of the target under the condition that the point clouds in the overlapped area are sparse is met.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a multi-path laser radar point cloud registration device and a using method thereof. The point cloud registration device carries a telescopic search arm, and the limitation of a laser radar overlapping area can be spanned by changing the radius of the search arm. Even if there is no overlapping area between two laser radars, the point clouds can be fused into the same coordinate system. The device can be applied to laser radar point cloud registration among different distances.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the invention provides a multi-path side laser radar point cloud registration device, which is arranged between two laser radars and comprises a fixed frame, a horizontal search arm and a reflector; the fixing frame is vertically arranged and adjustable in height; the horizontal searching arm is horizontally arranged and connected with the fixed frame, the horizontal searching arm can horizontally rotate relative to the fixed frame, the length of the horizontal searching arm is adjustable, and the reflector is installed at the tail end of the horizontal searching arm.
In a second aspect, the invention further discloses a method for point cloud configuration based on the multi-path side laser radar point cloud registration device, which comprises the following steps:
2.1 determining the vertical height and the horizontal telescopic length of the point cloud registration device according to the installation height and the distance between two laser radars, and ensuring that the point cloud registration device can reach both a laser radar A scanning area and a laser radar B scanning area in the subsequent rotation process;
rotating the point cloud registration device, when the point cloud registration device rotates to the scanning range of the laser radar A and the color displayed by the computer image at the laser radar A is that the returned intensity reaches the maximum, namely the reflection sheet of the registration device is scanned, so that the rotation is stopped, the point is A1-1, the data of the point is recorded, and then the point is continuously rotated to search the next point A1-2 and record the data of the point; correspondingly, the point cloud registration device continues to rotate to reach the B scanning area of the laser radar, and B1-1 point and B1-2 point similar to the B scanning area are searched for and relevant data are recorded.
2.2 after completing the data collection of the position 1, the point cloud registration device is moved to another three new positions, and the step 2.1 is repeated to collect data.
3.1 unifying each frame of the two laser radars in time;
3.2, calculating and searching coincident points by utilizing the collected data points A1-1, A1-2, B1-1 and B1-2;
according to the coordinates of the two points A1-1 and A1-2 and the length of the horizontal searching arm, the OA-1 coordinate of the central point related to the laser radar A is obtained; the coordinate value of OA-1 is in a local coordinate system with the laser radar A as the origin; by using an equivalent method, the center point OB-1 coordinate related to the laser radar B can be obtained by using B1-1, B1-2 and the length of a horizontal search arm, the OB-1 coordinate is in a local coordinate system taking the laser radar B as the center of a circle, and two points OA-1 and OB-1 are coincident points 1 found by the laser radar A and the laser radar B through a point cloud registration device;
3.3 repeating the steps 3.1 and 3.2, and respectively calculating coincidence points 2, 3 and 4 of the other three positions; and after the calculation is finished, performing laser radar local coordinate system fusion by using coordinate transformation to finish point cloud configuration.
In a third aspect, the invention also discloses a multi-path side laser radar point cloud registration device which is arranged between two laser radars and comprises a fixed frame, a search arm and a GPS; the fixing frame is vertically arranged and adjustable in height; the search arm is of an arc-shaped structure and is connected with the fixed frame, the search arm can horizontally rotate relative to the fixed frame, and the GPS is arranged at the tail end of the search arm.
In a fourth aspect, the invention further discloses a method for point cloud configuration based on the multi-path side laser radar point cloud registration device, which comprises the following steps:
2.1 moving the point cloud registration device in the scanning area of the laser radar A, and changing the height of the point cloud registration device at intervals; observing a display connected with the laser radar A, stopping moving when the color representation displayed by the point cloud registration device returns to the maximum intensity value, and recording the latitude and longitude numerical value displayed on the GPS measuring instrument of the point and the corresponding point coordinate value;
2.2 after the searching and recording of the position 1 are finished, continuing to move the registration device, searching the other three positions according to the method in the step 2.1, and recording the latitude and longitude values and the coordinate values of the corresponding positions displayed on the GPS measuring instrument of each point;
and 2.2, after the data acquisition of the laser radar A is finished, repeating the step 2.1, and finishing the data acquisition of the laser radar B by the step 2.2.
3.1 before the fusion of the local coordinates and the global coordinates of the laser radar point cloud, firstly, converting the obtained longitude and latitude values of the data points into coordinate values (x, y, z) in a space rectangular coordinate system, wherein the specific formula is as follows:
wherein e' denotes a second eccentricity of the ellipse
B is the geodetic latitude, L is the geodetic longitude, and a and B are the major and minor semiaxes of the earth ellipsoid;
and 3.2, carrying out laser radar local coordinate system fusion by utilizing coordinate transformation to complete point cloud configuration.
The invention provides a multi-path laser radar point cloud registration device and a using method thereof under the condition that point clouds in an overlapping area are sparse, key points of different laser radar overlapping areas can be searched by the point cloud registration device, the number of the key points is increased by changing the distribution position of the point cloud registration device, the point cloud registration of multiple laser radars is realized, and the requirement of continuous long-distance tracking of a target is further realized.
The invention has the beneficial effects that:
(1) the point cloud registration device provides laser radar registration equipment under two conditions, and the application range is wider;
(2) due to the design of the telescopic arm, a complete circular arc ring is not needed, and the point cloud registration can be completed only by rotating the device, so that the manufacturing materials of the registration device are greatly saved
(3) Convenient to move and disassemble
Drawings
FIG. 1 is a schematic view of the model structure in the embodiment;
FIG. 2 is a schematic view of the structure of each part of the fixing frame;
FIG. 3 is a schematic view of the structure of each part of the horizontal telescopic arm;
FIG. 4 is a schematic structural diagram of a first connecting device;
FIG. 5 is a schematic view of a retroreflective sheeting construction;
FIG. 6 is a schematic view showing the whole structure of a model in example 2;
FIG. 7 is a schematic view of a second connecting device;
FIG. 8 is a schematic data collection diagram of example 1;
FIG. 9 is a schematic diagram showing data for finding coincident points in example 1;
FIG. 10 is a schematic data collection diagram of example 2.
In the figure: 1. circular bottom plate, 2, steel pipe, 3, steel pipe, 4, first connecting device, 5, steel pipe, 6, steel pipe, 7, reflector, 8, bearing, 9, second connecting device, 10, GPS positioner.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
As described in the background art, the prior art has disadvantages, and in order to solve the above technical problems, the present invention provides a multi-path laser radar point cloud registration apparatus, an installation method and a use method thereof.
Example 1
As shown in fig. 1, the present embodiment discloses a roadside lidar point cloud registration device, which is used in a situation where the lidar is not far away, and includes a fixed frame, a horizontal circular search arm, and a reflector. The upper part of the fixing frame is provided with a horizontal round surface searching arm with adjustable position, the length of the horizontal searching arm can be adjusted in a segmented mode and can horizontally rotate around the fixing frame through a bearing, and the other end of the searching arm is provided with a reflecting piece.
Specifically, the fixing frame is formed by mutually nesting two sections of hollow steel pipes, wherein the two sections of hollow steel pipes are respectively a steel pipe 2 and a steel pipe 3. The steel pipe 2 is a lower section steel pipe, a round steel plate 1 is welded at the bottom of the steel pipe to serve as a support, 4 insertion holes are formed in the pipe body, and the steel pipe can be inserted by pins after the proper height is determined. The pipe diameter of the steel pipe 3 is smaller than that of the steel pipe 2, the steel pipe 2 can be sleeved in, the top of the steel pipe and the inner ring of the bearing are nested together, a plurality of insertion holes are also formed in the steel pipe 3, and when the relative position between the steel pipe and the bearing meets the actual requirement, the steel pipe and the bearing are inserted together through pins to fix the relative position between the steel pipe and the bearing.
The horizontal round surface telescopic arm is formed by nesting two sections of thin hollow steel pipes which are respectively a steel pipe 5 and a steel pipe 6.
The steel pipe 5 can be connected with the bearing on the steel pipe 3 by the first connecting device 4, and the steel pipe 5 is provided with 3 small holes for adjusting the extension length.
The steel pipe 6 is provided with two small holes on the pipe body, the size of the small holes is as large as that of the small holes on the steel pipe 5, the two holes are aligned, bolts are inserted and screwed down by nuts, and then the length of the transverse telescopic arm is determined.
First connecting device 4, one end are circular arc circle, and are in the same place with bearing inner race nestification for flexible arm horizontal direction rotates, and the other end is the hollow pipe that the diameter slightly is less than steel pipe 5, is used for being connected with steel pipe 5, connects into a whole with whole horizontal flexible arm and vertical mount then.
The reflector is circular, the center of the reflector is provided with a hole, the diameter of the reflector is the same as that of the steel pipe 6, and the steel pipe 6 can be inserted into the circular reflector.
The invention provides a multi-path laser radar point cloud registration device and a using method thereof under the condition that point clouds in an overlapping area are sparse, key points of different laser radar overlapping areas can be searched by the point cloud registration device, the number of the key points is increased by changing the distribution position of the point cloud registration device, the point cloud registration of multiple laser radars is realized, and the requirement of continuous long-distance tracking of a target is further realized.
When the laser radars are not far away from each other, the point cloud registration device is used for registering the laser radars under a certain laser radar local coordinate system (in this case, three laser radars are matched for completion, taking two laser radars as an example and respectively recording the laser radars as a laser radar A and a laser radar B, and the sizes of all parts are recommended values):
step 1) preparation work before point cloud registration device is assembled and installed
The bearing 8 and the steel pipe 3 (with the length of 800mm, the outer diameter of 240mm and the inner diameter of 120mm) are nested, and the first connecting device 4 (with the inner diameter of 320mm, the outer diameter of 360mm and the length of the right end extending part of 100mm) and the bearing 8 (with the outer diameter of 320mm and the inner diameter of 280mm) are nested. Note that each lidar has heretofore been horizontally positioned and separately connected to GPS 10.
Step 2) mounting and fixing frame
The steel pipe 2 (external diameter 280mm, internal diameter 240mm, length 1500mm, first jack 750mm from bottom, spacing between jacks 200mm, jack diameter 20mm) and the steel pipe 3 are nested together, and after selecting proper height, the pin is inserted. As shown in fig. 2.
Step 3) installing a transverse telescopic arm
With steel pipe 5 (external diameter 68mm, internal diameter 60mm, length 500mm, first jack apart from the bottom 100mm, and the distance is 150mm between the jack) and steel pipe 6 (external diameter 60mm, internal diameter 52mm, length 700mm, first jack apart from the bottom 250mm, second jack interval 300mm) nestification together to be connected with first connecting device 4, confirm after the horizontal flexible arm length, insert the bolt and screw up with the nut. As shown in fig. 3
Step 4) installing the reflective sheet
After the vertical fixing frame and the horizontal telescopic arm are installed, the reflector 7 (with the diameter of 700mm) can be installed at the tail end of the horizontal telescopic arm. As shown in fig. 5.
Step 5) point cloud registration data collection
And 5.1, according to the installation heights and the distance between the two laser radars, the vertical height and the horizontal telescopic length of the point cloud registration device are roughly determined, and the point cloud registration device can reach both a laser radar A scanning area and a laser radar B scanning area in the later rotation process. And then one person rotates the horizontal telescopic arm at the point cloud registration device, and the other two persons are respectively at the laser radar A and the laser radar B. When the point cloud registration device rotates to the scanning range of the laser radar A, a person at the position of the laser radar A stares at a computer to display an image in real time (attention is paid to the fact that the computer image is required to be displayed in real time by taking intensity as an index), when the color displayed by the point cloud registration device is found in a computer screen to represent that the returned intensity of the point cloud registration device reaches the maximum (namely, a1-1 point in figure 8), the point cloud registration device is scanned to a reflector, so that rotation is stopped, data at the position is recorded, and then the point cloud registration device continues to rotate to find the next point (namely, a1-2 point in figure 8) and record the data at the position. Correspondingly, the point cloud registration device continues to rotate to reach the B scanning area of the laser radar, and B1-1 point and B1-2 point similar to the B scanning area are searched for and relevant data are recorded.
5.2 after completing the data collection of the position 1, the point cloud registration device is moved to three new positions (the position selection principle is consistent with that in 5.1, for the convenience of understanding, the selected point of the position 2 is also shown in fig. 6), and the step 5.1 is repeated to collect data.
Step 6) two laser radar point cloud data fusion (namely point cloud registration)
6.1 because the time of different lidar installations is different, this can lead to the timestamp of every dot data different, then can't get up every lidar frame under the same time correspondingly to can't realize that the frame of different lidar can integrate together the purpose of correctly showing certain same object. To achieve this, it is necessary to temporally unify the two lidar systems per frame before point cloud registration of the two lidar systems. Since each lidar is equipped with a GPS with a parameter timestamp representing the time variation in the GPS, the time stamps can be used to achieve temporal uniformity of the two lidar. The time unified recommendation method comprises the following steps: assuming that n data points are shared on a certain frame P1 of the laser radar a, the sum of the timestamps of the n data points of the frame can be calculated S1, then the sum of the timestamps of all frames of the laser radar B is calculated, and the frame P2 corresponding to the S2 with the smallest difference with the S1 in the sum of the timestamps of the laser radar B is found, so that the P1 and the P2 are frames at the same time, that is, the two laser radars are unified in time.
6.2 is based on 6.1. Theoretically, in order to fuse point cloud data of different laser radars together, a coincident point of the two laser radars needs to be found. Now, taking collected data points A1-1, A1-2, B1-1 and B1-2 as examples, the calculation and search of coincident points are performed. From the relevant mathematical knowledge: when two points on the arc are known, the straight line of the center of the circle can be found, and because the length of the horizontal search arm is known, that is, the radius of the circle is known, the OA-1 coordinate of the center point related to the laser radar a can be obtained according to the coordinates of the two points a1-1 and a1-2 and the length of the horizontal search arm (for easy understanding, see fig. 9), and the coordinate value of the OA-1 is under the local coordinate system with the laser radar a as the origin. By using the same method, the point OB-1 related to the laser radar B can be obtained by using B1-1, B1-2 and the length of the horizontal search arm, and the coordinate of the point OB-1 is under a local coordinate system taking the laser radar B as the center of a circle at the moment, so that the two points OA-1 and OB-1 are coincident points 1 found by the laser radar A and the laser radar B through a point cloud registration device.
6.3 repeat steps 6.1 and 6.2, and respectively calculate coincident points 2, 3 and 4 of the rest three positions. And after the calculation is finished, the local coordinate system fusion of the laser radar (namely the point cloud registration of the two laser radars) can be carried out. As can be seen from the related mathematical knowledge, the implementation of the transformation of the coordinate system of different three-dimensional cartesian spaces can be realized by the following transformations: scale transformation, translation transformation, rotation transformation, shear transformation, and perspective transformation. The matrices associated with the transformation are shown below:
the matrix (1) is a scaling matrix
Wherein s isx、sy、szMeaning the scaling in the x, y, z axes, respectively.
The matrixes (2), (3) and (4) are rotation transformation matrixes
Where θ represents the angle of rotation, TRX、TRY、TRZRepresentative are rotational transformation matrices around the x, y, z axes, respectively.
The matrix (5) is a miscut transform matrix
Wherein m isx1、mx2Representing the value of the miscut transform in the direction of the x-axis, correspondingly my1、my2、mz1、mz2Represented are the miscut transform values in the y-axis direction and the z-axis direction, respectively.
The matrix (6) is a translation transformation matrix
Wherein, Tx、Ty、TzRespectively, are translation values on the x, y, z axes.
In summary, the final transformation matrix is
In the case of the transformation matrix, it is,
representative is the basic part of the transformation, for example: proportional transformation, rotational transformation and shear transformation;
representative is the perspective transformation, [ a ]41 a42 a43]Representative is a translation transformation along the x, y, z axes, [ a ]44]Representative is the overall scale size. In summary, the formula for transforming the coordinate description of the object from one coordinate system to another coordinate system (i.e. the two coordinate systems are merged into one coordinate system) is as follows:
[X Y Z 1]＝[x y z 1]×T (8)
the transformation matrix T is
T＝[x y z 1]-1×[X Y Z 1] (9)
It should be noted that the two coordinate matrices are 4 × 4, where [ X Y Z1 ] has coordinate values of OA-1, OA-2, OA-3, and OA-4, and [ X Y Z1 ] has coordinate values of OB-1, OB-2, OB-3, and OB-4.
[ X Y Z1 ] and [ X Y Z1 ] are written specifically as follows:
therefore, through the coordinate transformation, the laser radar A and the laser radar B can be fused into a coordinate system at the same coordinate, and point cloud registration is completed.
Example 2
As shown in fig. 6 and 7, the present embodiment discloses a roadside lidar point cloud registration device, which is used in a case where the lidar is far away, and includes a fixed frame, a first connecting device, a second connecting device, and a GPS positioning device 10.
Specifically, the fixing frame is formed by mutually nesting two sections of hollow steel pipes, wherein the two sections of hollow steel pipes are respectively a steel pipe 2 and a steel pipe 3. The steel pipe 2 is a lower section steel pipe, a round steel plate 1 is welded at the bottom of the steel pipe to serve as a support, 4 insertion holes are formed in the pipe body, and the steel pipe can be inserted by pins after the proper height is determined. The pipe diameter of the steel pipe 3 is smaller than that of the steel pipe 2, the steel pipe 2 can be sleeved in, the top of the steel pipe and the inner ring of the bearing are nested together, a plurality of insertion holes are also formed in the steel pipe 3, and when the relative position between the steel pipe and the bearing meets the actual requirement, the steel pipe and the bearing are inserted together through pins to fix the relative position between the steel pipe and the bearing.
The first connecting device 4 is provided with a circular arc ring at one end, is nested with the outer ring of the bearing together and is used for rotating the second connecting device in the horizontal direction, and is provided with a hollow circular tube with the diameter slightly smaller than that of the steel tube 5 at the other end and is used for being connected with the steel tube 5 so as to connect the second connecting device and the GPS into a whole.
The second connecting device is a 90-degree elbow, one end of the second connecting device is provided with threads for connecting with a GPS positioning device (the interface begins to be matched), and the diameter of the other end of the second connecting device is consistent with that of the steel pipe 5 and is directly connected with the connecting device 4.
When the laser radar a and the laser radar B are far apart from each other and cannot integrate data thereof under a certain local coordinate system of the laser radar by using the point cloud registration device, therefore, the embodiment discloses a method for fusing the laser radar a and the laser radar B with a geodetic coordinate system respectively by using the point cloud registration device (in this case, two persons are generally required to complete point cloud registration):
step 1) preparation work before point cloud registration device is assembled and installed
The bearing 8 is nested with the steel pipe 3, and the second connecting device 9 and the bearing 8 are nested. It should be noted that heretofore each lidar had to be positioned horizontally.
Step 2) mounting and fixing frame
The steel pipes 2 and 3 are nested together and after the appropriate height is selected, the pins are inserted. As shown in fig. 2.
Step 3) installing a high-precision GPS measuring instrument
The second connecting device 9 is connected to the first connecting device 4, and the high-precision GPS is mounted on the second connecting device 9 and screwed. And a reflector 7 is attached to the top of the GPS measuring instrument. As shown in fig. 6.
Step 4) point cloud registration data collection
And 4.1, one person holds the point cloud registration device by hand, walks in the scanning area of the laser radar A, and changes the height of the point cloud registration device at intervals. Another person stares at a computer screen connected with the laser radar a (note that the computer image should be displayed in real time by using the intensity as an index), stops moving when the color representation displayed by the point cloud registration device returns to the maximum intensity value, and records the latitude and longitude values displayed on the GPS measuring instrument at this point and the corresponding point coordinate values (as shown in the registration position 1 in fig. 10).
And 4.2, after the searching and recording of the position 1 are finished, continuously moving the registration device, searching for three other places (as shown in 108 positions 2, 3 and 4) which can return the maximum intensity value, and recording the latitude and longitude numerical values and the corresponding position coordinate values displayed on the GPS measuring instrument of each point.
And 4.3, after the data acquisition of the laser radar A is finished, repeating the step 4.1, and finishing the data acquisition of the laser radar B in the step 4.2.
Step 5) fusing the local coordinate system and the global coordinate system of the laser radar
Step 5.1, before the fusion of the local coordinates and the global coordinates of the laser radar point cloud, the obtained longitude and latitude values of the data points are converted into coordinate values (x, y, z) in a space rectangular coordinate system, and the specific formula is as follows:
wherein e' denotes a second eccentricity of the ellipse
B is the geodetic latitude, L is the geodetic longitude, and a and B are the major and minor semiaxes of the earth ellipsoid.
Step 5.2 repeats step 6.3 in the first case on the basis of step 5.1, where it should be noted that in the second case, the coordinate values in [ X Y Z1 ] are coordinate values in a space rectangular coordinate system with the longitude and latitude converted, and the coordinate values in [ X Y Z1 ] are coordinate values in a local coordinate system with the laser radar as the center. Through the steps, the fusion of the local coordinate system of the laser radar to the geodetic coordinate system is completed.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (8)
1. A method for point cloud configuration based on a multi-path laser radar point cloud registration device is characterized in that,
step 1, installing multi-path side laser radar point cloud registration device
The device is arranged between two laser radars and comprises a fixed frame, a horizontal searching arm and a reflector; the fixing frame is vertically arranged and adjustable in height; the horizontal searching arm is horizontally arranged and connected with the fixed frame, the horizontal searching arm can horizontally rotate relative to the fixed frame, the length of the horizontal searching arm is adjustable, and the reflector is arranged at the tail end of the horizontal searching arm;
step 2, point cloud registration data collection
2.1 determining the vertical height and the horizontal telescopic length of the point cloud registration device according to the installation height and the distance between two laser radars, and ensuring that the point cloud registration device can reach both a laser radar A scanning area and a laser radar B scanning area in the subsequent rotation process;
rotating the point cloud registration device, when the point cloud registration device rotates to the scanning range of the laser radar A and the color displayed by the computer image at the laser radar A is that the returned intensity reaches the maximum, namely the reflection sheet of the registration device is scanned, so that the rotation is stopped, the point is A1-1, the data of the point is recorded, and then the point is continuously rotated to search the next point A1-2 and record the data of the point; correspondingly, continuing rotating the point cloud registration device to reach a laser radar B scanning area, searching similar B1-1 points and B1-2 points in the point cloud registration device, and recording related data;
2.2 after the data collection of the position 1 is finished, moving the point cloud registration device to another three new positions, and repeating the step 2.1 to collect data;
step 3, carrying out point cloud data fusion of the two laser radars
3.1 unifying each frame of the two laser radars in time;
3.2, calculating and searching coincident points by utilizing the collected data points A1-1, A1-2, B1-1 and B1-2;
according to the coordinates of the two points A1-1 and A1-2 and the length of the horizontal searching arm, the OA-1 coordinate of the central point related to the laser radar A is obtained; the coordinate value of OA-1 is in a local coordinate system with the laser radar A as the origin; by using an equivalent method, the center point OB-1 coordinate related to the laser radar B can be obtained by using B1-1, B1-2 and the length of a horizontal search arm, the OB-1 coordinate is in a local coordinate system taking the laser radar B as the center of a circle, and two points OA-1 and OB-1 are coincident points 1 found by the laser radar A and the laser radar B through a point cloud registration device;
3.3 repeating the step 3.1 and the step 3.2, and respectively calculating coincident points 2, 3 and 4 of the rest three positions; and after the calculation is finished, performing laser radar local coordinate system fusion by using coordinate transformation to finish point cloud configuration.
2. The method for point cloud configuration based on multi-side lidar point cloud registration device of claim 1, further comprising a bearing, wherein the inner ring of the bearing is connected to the top of the fixture, the outer ring of the bearing is connected to the first connecting device, and the horizontal search arm is connected to the bearing at the top of the fixture through the first connecting device.
3. The method for point cloud configuration based on the multi-side laser radar point cloud registration device as claimed in claim 2, wherein the first connecting device has one end with a circular arc ring and is nested with the outer ring of the bearing, and the other end with a diameter slightly smaller than that of the hollow circular tube.
4. The method of claim 2, wherein the reflector is a circle with a hole in its center connected to the horizontal search arm.
5. A method for point cloud configuration based on a multi-path laser radar point cloud registration device is characterized in that,
step 1, installing multi-path side laser radar point cloud registration device
The device is arranged between two laser radars and comprises a fixed frame, a search arm and a GPS; the fixing frame is vertically arranged and adjustable in height; the search arm is of an arc-shaped structure and is connected with the fixed frame, the search arm can horizontally rotate relative to the fixed frame, and the GPS is arranged at the tail end of the search arm;
step 2, point cloud registration data collection
2.1 moving the point cloud registration device in the scanning area of the laser radar A, and changing the height of the point cloud registration device at intervals; observing a display connected with the laser radar A, stopping moving when the color representation displayed by the point cloud registration device returns to the maximum intensity value, and recording the latitude and longitude numerical value displayed on the GPS measuring instrument of the point and the corresponding point coordinate value;
2.2 after the searching and recording of the position 1 are finished, continuing to move the registration device, searching the other three positions according to the method in the step 2.1, and recording the latitude and longitude values and the coordinate values of the corresponding positions displayed on the GPS measuring instrument of each point;
2.2, after the data acquisition of the laser radar A is finished, repeating the step 2.1, and finishing the data acquisition of the laser radar B by the step 2.2;
step 3, fusing the local coordinate system and the global coordinate system of the laser radar
3.1 before the fusion of the local coordinates and the global coordinates of the laser radar point cloud, firstly, converting the obtained longitude and latitude values of the data points into coordinate values (x, y, z) in a space rectangular coordinate system, wherein the specific formula is as follows:
wherein e' denotes a second eccentricity of the ellipse
B is the geodetic latitude, L is the geodetic longitude, and a and B are the major and minor semiaxes of the earth ellipsoid;
and 3.2, carrying out laser radar local coordinate system fusion by utilizing coordinate transformation to complete point cloud configuration.
6. The method for point cloud configuration based on multi-side lidar point cloud registration device of claim 5, further comprising a bearing, wherein the inner ring of the bearing is connected to the top of the fixture, the outer ring of the bearing is connected to the first connecting device, and the search arm is connected to the bearing at the top of the fixture through the first connecting device.
7. The method for point cloud configuration based on the multi-side lidar point cloud registration device of claim 6, wherein the first connecting device has a circular arc at one end and is nested with the outer ring of the bearing, and the other end has a diameter slightly smaller than that of the hollow circular tube.
8. The method for point cloud configuration based on multi-path laser radar point cloud registration device as claimed in claim 6, wherein the arc of the search arm is 90 °, one end of the search arm is horizontally connected to the first connection device, and the other end of the search arm is vertically connected to the GPS.
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