CN111562563A - Laser radar rotary table calibration method and device and computer readable storage medium - Google Patents
Laser radar rotary table calibration method and device and computer readable storage medium Download PDFInfo
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- CN111562563A CN111562563A CN202010369765.8A CN202010369765A CN111562563A CN 111562563 A CN111562563 A CN 111562563A CN 202010369765 A CN202010369765 A CN 202010369765A CN 111562563 A CN111562563 A CN 111562563A
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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
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- 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
Abstract
The invention discloses a method and a device for calibrating a laser radar rotary table and a computer readable storage medium, wherein the process comprises the steps of (1) rotating the laser radar rotary table by a series of angles; (2) three-dimensional coordinate P of laser radar output series observation pointLCoordinates P of the series of observation points in a second coordinate systemBComprises the following steps: pB＝T2*T1*PL(ii) a (3) Fitting the geometric surface by using a mathematical expression equation corresponding to the geometric surface; (4) calculating Euclidean distances D from the positions of the series of observation points in the second coordinate system to the geometric surface to which the series of observation points belong by using a mathematical expression corresponding to the geometric surface; (5) the minimum accumulated value of Euclidean distances D of the series of observation points is taken as an optimization target, and the first attitude is transformed by T1Optimizing; (6) circularly performing the steps (2) to (5) to transform the first posture T1And performing iterative optimization. The invention mainly solves the problem of strong dependence on a calibration field accurately measured in advance in the prior art.
Description
Technical Field
The present invention relates to a measurement and mapping method, and more particularly, to a method and apparatus for calibrating a laser radar turntable, and a computer-readable storage medium.
Background
The laser measurement technology is a measurement mapping technology which is rapidly developed and rapidly applied in recent years. Typical products of the technology (lidar) are widely used in industrial fields such as aerial surveying, autopilot, etc. Compared with the traditional measurement and mapping technology, the laser radar has the characteristics of large data volume, convenience in use, high production efficiency and the like; compared with the image photogrammetry technology, the method has the characteristics of high resolution, high precision and the like, so that the method has strong irreplaceability.
Because the production adjustment and calibration process of the laser radar equipment mainly depends on manual completion, the high-line-number laser radar has high cost and high price, and the application of the high-line-number laser radar is limited to a certain extent; although the low-line-number laser radar is low in price, the measurement field angle is narrow, the measurement range is limited, and the application scenes are few. Therefore, the prior art (CN109188369A) provides a method for combining a low-line-number laser radar with a rotating platform, which greatly expands the measurement range of the low-line-number laser radar.
The assembly of laser radar body and revolving stage two parts is related to, because the existence of machining error and installation error. Theoretically, the relative pose relationship between the laser radar and the rotary table is difficult to accurately know. In order to accurately transform the points measured by the laser radar body coordinate system into the turntable coordinate system when the turntable rotates for scanning measurement, the relative pose relationship between the laser radar and the turntable must be strictly calibrated in advance. In the prior art, various schemes for realizing the calibration exist. The first is manual adjustment of parameters: the approximate installation pose of the laser radar and the state can be obtained through a mechanical design drawing, fine adjustment of parameters is carried out on the basis of the pose, whether measurement is accurate or not is judged through human eye experience, and the method is poor in efficiency and precision; the second method is to perform calibration based on a high-precision calibration reference environment, for example, a high-precision laser radar with extremely low measurement error is used in advance to perform long-time static scanning on a pre-established calibration room, and a three-dimensional model of the accurate calibration room is obtained and then used as a reference data calibration turntable.
The first calibration method in the prior art has low calibration efficiency and poor calibration precision, and is highly dependent on professional workers with calibration experience, so the cost is high; the second calibration method needs a calibration scene depending on accurate three-dimensional modeling, and expensive high-precision laser radar (rigel) is used for scanning in advance to obtain a scene three-dimensional model, so that the cost is high. In addition, it can be seen that the second calibration method is required to implement calibration in a specified scene, and cannot perform calibration at any time in an application field, so that the scene adaptability is poor.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems, the invention provides a method and a device for calibrating a laser radar rotary table and a computer readable storage medium, the calibration method does not depend on professional calibration personnel or a high-precision laser radar and a specific field, achieves the calibration effect with the same precision, achieves high calibration efficiency and precision at the same time, reduces the calibration cost of the laser radar, and can calibrate at any time in an application field.
The technical scheme is as follows: the technical scheme adopted by the invention is a laser radar rotary table calibration method, wherein the laser radar rotary table comprises a base, a rotary platform capable of rotating relative to the base and a laser radar body fixedly connected with the rotary platform, the laser radar rotary table is arranged in a certain space, the space comprises a geometric surface with a definite mathematical expression equation, and a series of measuring points are arranged on the geometric surface, the calibration method comprises the following steps:
(1) rotating the lidar turret through a series of angles; wherein, the series of angles are evenly distributed equidistant angles.
(2) The laser radar observes the series of measuring points corresponding to different rotation angles and outputs the three-dimensional coordinates P of the series of observing pointsLCoordinates P of the series of observation points in a second coordinate systemBComprises the following steps: pB＝T2*T1*PLWherein T is1For the first pose transformation, the relative position relationship between the first coordinate system and the second coordinate system is expressed, T2Representing the relative position relation between the second coordinate system and the third coordinate system for the second attitude transformation; the first coordinate system is a coordinate system of the laser radar body, the second coordinate system is a coordinate system of the rotary platform, and the third coordinate system is a coordinate system of the base;
(3) fitting the geometric surface by using a mathematical expression equation corresponding to the geometric surface to determine a mathematical expression corresponding to the geometric surface;
(4) calculating Euclidean distances D from the positions of the series of observation points in the second coordinate system to the geometric surface to which the series of observation points belong by using a mathematical expression corresponding to the geometric surface;
(5) establishing an optimization problem, and transforming the first attitude by taking the minimum accumulated value of the Euclidean distances D of the series of observation points as an optimization target1Optimizing;
(6) circularly performing the steps (2) to (5) to transform the first posture T1And performing iteration, wherein the termination condition of the loop iteration is that the difference of the first attitude transformation results obtained by the last two iterations is smaller than a set threshold value.
In one calibration scheme, the geometric surfaces with definite mathematical expression equations are three planes which are intersected with each other in pairs. A common room is a scene that typically satisfies this condition.
In one calibration scheme, the geometric surface with definite mathematical expression equation is a cylindrical surface and a plane perpendicular to the cylindrical surface.
In one calibration scheme, the geometric surface with the definite mathematical expression equation is a spherical surface.
The invention also provides an automatic calibration device of the laser radar rotary table, which comprises a base, a rotary platform capable of rotating relative to the base, a laser radar body fixedly connected with the rotary platform, a memory, a processor, a controller and an automatic calibration program of the laser radar rotary table, wherein the automatic calibration program of the laser radar rotary table is stored on the memory and can run on the processor, the controller receives signals sent by the processor and is used for controlling the rotation angle of the laser radar, and the automatic calibration program of the laser radar rotary table executes the steps in the calibration method of the laser radar rotary table.
The invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a laser radar turntable automatic calibration program, and the laser radar turntable automatic calibration program executes the steps in the laser radar turntable calibration method.
Has the advantages that: compared with the prior art, the invention has the following advantages: (1) the calibration method does not need to use an absolutely accurate three-dimensional environment for calibration, does not depend on a pre-established calibration field, does not depend on the measurement result of expensive high-precision three-dimensional measurement equipment as a true value reference, does not need to be operated by a professional, depends on the flatness constraint condition of a plurality of planes, completes calibration on the high-precision measurement turntable, and can be automatically completed by the device, so that the method has strong flexibility; (2) the method adopts an iteration method from coarse to precise to complete calibration, and gradually establishes more precise mathematical description on a calibration plane in the iteration process, thereby further promoting the accuracy of parameter calibration and ensuring that the process is easy to converge; (3) although the method does not rely on high-precision measurement equipment as prior information, the calibration precision comparable to that of the prior art can be achieved.
Drawings
FIG. 1 is a schematic structural diagram of a laser radar rotary table;
FIG. 2 is a schematic structural diagram of a laser radar rotary table;
FIG. 3 is a schematic view of a first coordinate system according to the present invention;
FIG. 4 is a schematic view of a second coordinate system according to the present invention;
FIG. 5 is a schematic diagram of a third coordinate system according to the present invention;
FIG. 6 is a schematic diagram of a first pose transformation relationship according to the present invention;
FIG. 7 is a diagram illustrating a second posture transformation relationship according to the present invention.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
The method for calibrating the laser radar rotary table is used for calibrating the relative position and posture relation between the laser radar and the rotary table, the wall surface in a room which is easy to obtain and meets the simple calibration requirement is used as a reference, the alignment and the position and posture optimization of the measured point cloud are carried out in a self-adaptive mode, the scene adaptability and the efficiency of the calibration task of the laser radar rotary table are improved, and the high-precision calibration result is kept. As shown in fig. 1, the lidar turret is placed in any room, and three planes (walls) 3, 5, and 6 intersecting each other in pairs in the room form a three-dimensional space in which the lidar turret is located. A series of measuring points are respectively arranged on the three wall surfaces. The measuring points are located on the wall surface, and the measuring points on the same wall surface can meet the plane assumption; the number of points is usually a minimum requirement, typically 100 points. As shown in fig. 2, the structure of the laser radar rotary table is schematically illustrated, the rotary table includes a rotary platform 3 and a rotary table base 4, wherein the low-line-number laser radar body 1 is fixedly connected with the rotary platform 3 through a connecting member 2, and the rotary table base 4 connected with the rotary platform 3 can be fixedly mounted on other carriers. The non-rotating lidar is suitable for the calibration method of the invention, and particularly, the lidar 1 can be a rotating lidar, and the rotating shaft of the rotating lidar is 501. The rotary platform 3 is rotatable relative to the stationary turntable base 4 about a rotation axis 502.
In the above scenario, the lidar outputs the first coordinate of the measurement point series measured by the lidar to the outside, and the first coordinate is a first coordinate system relative to the lidar body. As shown in fig. 3, the coordinate system of the laser radar body 1 is the first coordinate system 11, 111 is the first coordinate axis of the first coordinate system, and 112 is the second coordinate axis of the first coordinate system, and since the schematic diagram is a two-dimensional side view, the third coordinate axis perpendicular to both the first coordinate axis and the second coordinate axis is not shown in the diagram.
The laser radar 1 is fixedly mounted on the rotating platform 3, and defines a second coordinate system 31 fixedly connected to the rotating platform 3, as shown in fig. 4, where 311 is a fourth coordinate axis of the second coordinate system, which is defined to be coincident with the rotating axis 502 of the rotating platform 3, and 312 is a fifth coordinate axis of the second coordinate system, and since the schematic diagram is a two-dimensional side view, a sixth coordinate axis perpendicular to both the fourth coordinate axis and the fifth coordinate axis is not shown in the diagram.
The rotary platform 3 is rotatably mounted on the base 4 and defines a third coordinate system 41 fixedly connected to the base 4, as shown in fig. 5, wherein 411 is a seventh coordinate axis of the third coordinate system, which is defined to coincide with the rotation axis 502 of the rotary platform 3, i.e. to coincide with the fourth coordinate axis of the second coordinate system, and 412 is an eighth coordinate axis of the third coordinate system, and since the schematic diagram is a two-dimensional side view, a ninth coordinate axis perpendicular to both the seventh coordinate axis and the eighth coordinate axis is not shown.
As shown in fig. 6, the installation relationship between the laser radar 1 and the rotating platform 3 is shown, and particularly, the relative position relationship between the first coordinate system 11 and the second coordinate system 31 is defined as a first pose transformation.
As shown in fig. 7, the installation relationship between the rotating platform 3 and the base 4 is shown, and particularly, the relative position relationship between the second coordinate system 31 and the third coordinate system 41 is defined as a second pose transformation.
As described above, the laser radar 1 can output the first coordinates of the measurement point series with respect to the first coordinate system 11, and since the laser radar 1 is fixedly mounted on the rotary platform 3 and the rotary platform 3 is rotatably mounted on the base 4, the second coordinates of the first coordinates after the first and second attitude transformations, that is, the position coordinates of the measurement point series under the third coordinate system 41, that is, under the base 4, are obtained.
The second posture transformation can be directly obtained by reading the rotation angle of the turntable through rotation transformation, and is not described in detail herein. The first pose transformation can be obtained from a mechanical design drawing, and due to the existence of a processing error, a pose directly obtained from the drawing has a certain error and directly influences the measurement precision of the second coordinate. Therefore, the laser radar rotary table is calibrated, namely the numerical value of the first position and posture transformation is accurately calculated.
The method for calibrating the laser radar rotary table comprises the following specific process.
(1) Rotating the laser radar rotary table to a first angle enables the laser radar to observe a series of measuring points 301, 501 and 601 on the planes 3, 5 and 6, and rotating the laser radar rotary table to a second angle enables the laser radar to observe a series of measuring points 302, 502 and 602 on the planes 3, 5 and 6. Typically, the lidar turret is rotated to an nth angle, and the lidar observes a series of measurement points 30n, 50n, 60n on the plane 3, 5, 6. The rotation angle, i.e. the second and nth angles, is generally an equidistant angle uniformly distributed between 0-360 degrees or 0-180 degrees, and the larger n is, the smaller the angular interval is. A typical value for n is 30.
(2) The measurement points 30n, 50n, 60n can be read directly from the lidar output data as described above, denoted as PLRepresenting the first pose transformation as T1 and the second pose transformation as T2Then the second coordinate of the observation point can be represented as PB，PB＝T2*T1*PL。
(3) In particular, the second coordinate P of the observation point can be clearly identified due to the significant difference in directivity of the planes 3, 5, 6BSeparated by a plane as PB3、PB5、PB6. Further using a plane fitting algorithm, a corresponding plane equation can be calculated and recorded as V3、V5、V6。
(4) Second coordinate P of the observation point due to inaccuracy of the first pose transformationB3、PB5、PB6Respectively from the plane to which they belongDistance V3、V5、V6At a certain distance, marked as D (P)B，V)。
(5) Establishing an optimization problem, and transforming T to the first attitude by taking the distance D as an optimization target1Optimizing:
(6) circularly performing the step (2-5) to transform the first bit attitude T1And finishing the iterative optimization from coarse to fine. The loop termination condition is that when the last two iterations result T1The difference is less than a set threshold and the iteration is considered complete. First posture change T1Including position coordinate and attitude angle parameters, twice first pose transformation T1The difference of (b) is a difference between the euclidean distance and the attitude angle of the position. Typical values for the general threshold are 0.01 meter (position) and 0.1 degree (attitude) in euclidean distance.
And finishing the calculation of the accurate value of the first position and posture transformation, namely finishing the calibration of the laser radar rotary table.
Further, the present invention may be derived to other situations where planar features are not required, such as cylindrical and spherical.
Example 2
The laser radar rotary table is placed in a space which is formed by a cylindrical surface. The cylindrical surface and the plane perpendicular to the cylindrical surface are respectively provided with a series of measuring points.
In this scenario, the method for calibrating the laser radar turntable specifically comprises the following steps:
(1) and rotating the laser radar rotary table to a first angle, so that the laser radar respectively observes a series of measuring points corresponding to the first angle on the cylindrical surface and the plane, and rotating the laser radar rotary table to a second angle, so that the laser radar respectively observes a series of measuring points corresponding to the second angle on the cylindrical surface and the plane. Generally, the laser radar turntable is rotated to an nth angle, and then the laser radar observes a series of corresponding measuring points under the nth angle on the cylindrical surface and the plane. The rotation angle, i.e. the second and nth angles, is typically an equidistant angle evenly distributed between 0-360 degrees or 0-180 degrees.
(2) The three-dimensional coordinates of the measuring points can be directly read by the output data of the laser radar, and are expressed as PLRepresenting the first pose transformation as T1The second attitude transformation is represented as T2Then the second coordinate of the observation point can be represented as PB，PB＝T2*T1*PL。
(3) Due to the obvious difference of the directionality on the cylindrical surface and the plane, the second coordinate P of the observation point can be definitely determinedBThe coordinates are divided into two types according to the cylindrical surface and the plane area. Further using a cylindrical and planar fitting algorithm, the corresponding cylindrical equation can be calculated.
(4) Due to the inaccuracy of the first pose transformation, the second coordinates of the observation points are each at a distance from the cylinder equation to which they belong, denoted as D (P)B，V)。
(5) Establishing an optimization problem, and transforming the first posture T by taking the minimum accumulated value of the distance D as an optimization target1And (6) optimizing.
(6) Circularly performing the step (2-5) to transform the first bit attitude T1And (6) optimizing. The end condition of the loop iteration is that the difference between the results of the last two iterations is less than a threshold value, and the iteration is considered to be completed. Typical values for the set threshold are 0.01 meters (position) and 0.1 degrees (attitude).
And finishing the calculation of the accurate value of the first position and posture transformation, namely finishing the calibration of the laser radar rotary table.
Example 3
The laser radar rotary table is arranged in a certain space, and the space is enclosed by spherical surfaces to form a closed space. The spherical surface is provided with a series of measuring points.
The method for calibrating the laser radar rotary table comprises the following specific process.
(1) And rotating the laser radar rotary table to a first angle, so that the laser radar observes a corresponding measuring point under the first angle on the spherical surface, and rotating the laser radar rotary table to a second angle, so that the laser radar observes a corresponding measuring point under the second angle on the spherical surface. Generally, when the laser radar turntable is rotated to an nth angle, the laser radar observes a corresponding measurement point on the spherical surface at the nth angle. The rotation angle, i.e. the second and nth angles, is typically an equidistant angle evenly distributed between 0-360 degrees or 0-180 degrees.
(2) The three-dimensional coordinates of the measuring points can be directly read by the output data of the laser radar, and are expressed as PLRepresenting the first pose transformation as T1The second attitude transformation is represented as T2Then the second coordinate of the observation point can be represented as PB，PB＝T2*T1*PL。
(3) Using a spherical fitting algorithm, the corresponding spherical equation can be calculated.
(4) Due to the inaccuracy of the first pose transformation, the second coordinates of the observation points are respectively at a distance from the spherical equation, denoted as D (P)B，V)。
(5) Establishing an optimization problem, and transforming the first posture T by taking the minimum accumulated value of the distance D as an optimization target1Optimizing:
(6) circularly performing the step (2-5) to transform the first bit attitude T1And (5) completing iterative optimization. The end condition of the loop iteration is that the difference between the results of the last two iterations is less than a threshold value, and the iteration is considered to be completed. Typical values for the set threshold are 0.01 meters (position) and 0.1 degrees (attitude).
And finishing the calculation of the accurate value of the first position and posture transformation, namely finishing the calibration of the laser radar rotary table.
Through the embodiments 1-3 listed above, the invention can be further deduced to the situation of (wall) surface with any geometric characteristics, and any geometric surface with a definite mathematical expression equation can be used as a calibration reference of the laser radar turntable.
Claims (7)
1. A laser radar rotary table calibration method is characterized in that the laser radar rotary table comprises a base, a rotary platform capable of rotating relative to the base and a laser radar body fixedly connected with the rotary platform, the laser radar rotary table is placed in a certain space, the space comprises a geometric surface with a definite mathematical expression equation, and a series of measuring points are arranged on the geometric surface, and the calibration method comprises the following steps:
(1) rotating the lidar turret through a series of angles;
(2) the laser radar observes the series of measuring points corresponding to different rotation angles and outputs the three-dimensional coordinates P of the series of observing pointsLCoordinates P of the series of observation points in a second coordinate systemBComprises the following steps: pB＝T2*T1*PLWherein T is1For the first pose transformation, the relative position relationship between the first coordinate system and the second coordinate system is expressed, T2Representing the relative position relation between the second coordinate system and the third coordinate system for the second attitude transformation; the first coordinate system is a coordinate system of the laser radar body, the second coordinate system is a coordinate system of the rotary platform, and the third coordinate system is a coordinate system of the base;
(3) fitting the geometric surface by using a mathematical expression equation corresponding to the geometric surface to determine a mathematical expression corresponding to the geometric surface;
(4) calculating Euclidean distances D from the positions of the series of observation points in the second coordinate system to the geometric surface to which the series of observation points belong by using a mathematical expression corresponding to the geometric surface;
(5) establishing an optimization problem, and transforming the first attitude by taking the minimum accumulated value of the Euclidean distances D of the series of observation points as an optimization target1Optimizing;
(6) circularly performing the steps (2) to (5) to transform the first posture T1And performing iteration, wherein the termination condition of the loop iteration is that the difference of the first attitude transformation results obtained by the last two iterations is smaller than a set threshold value.
2. The laser radar turntable calibration method according to claim 1, wherein: the geometric surfaces with definite mathematical expression equations are three planes which are intersected pairwise.
3. The laser radar turntable calibration method according to claim 1, wherein: the geometric surface with definite mathematical expression equation is a cylindrical surface and a plane perpendicular to the cylindrical surface.
4. The laser radar turntable calibration method according to claim 1, wherein: the geometric surface with the definite mathematical expression equation is a spherical surface.
5. The laser radar turntable calibration method according to claim 1, wherein: the series of angles in the step (1) are uniformly distributed equidistant angles.
6. The utility model provides a laser radar revolving stage automatic calibration device which characterized in that: the device comprises a base, a rotating platform capable of rotating relative to the base, and a laser radar body fixedly connected with the rotating platform, and further comprises a memory, a processor, a controller and a laser radar rotary table automatic calibration program which is stored on the memory and can run on the processor, wherein the controller receives a signal sent by the processor and is used for controlling the rotating angle of a laser radar, and the laser radar rotary table automatic calibration program executes the steps in the laser radar rotary table calibration method according to any one of claims 1 to 5.
7. A computer-readable storage medium characterized by: the computer readable storage medium has stored thereon a lidar turntable automatic calibration program that performs the steps in the lidar turntable calibration method of any of claims 1-5.
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| CN112882000A (en) * | 2021-02-05 | 2021-06-01 | 北京科技大学 | Automatic calibration method of laser radar |
| CN113740876A (en) * | 2021-08-13 | 2021-12-03 | 探维科技(北京)有限公司 | Three-dimensional laser radar light path adjusting method and device and electronic equipment |
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| CN112558027B (en) * | 2020-12-16 | 2024-03-08 | 深圳优地科技有限公司 | Radar verification method, device, equipment and storage medium |
| CN112882000A (en) * | 2021-02-05 | 2021-06-01 | 北京科技大学 | Automatic calibration method of laser radar |
| CN112882000B (en) * | 2021-02-05 | 2023-02-03 | 北京科技大学 | Automatic calibration method for laser radar |
| CN113740876A (en) * | 2021-08-13 | 2021-12-03 | 探维科技(北京)有限公司 | Three-dimensional laser radar light path adjusting method and device and electronic equipment |
| CN113740876B (en) * | 2021-08-13 | 2023-04-14 | 探维科技(北京)有限公司 | Three-dimensional laser radar light path adjusting method and device and electronic equipment |
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