CN111650598A - External parameter calibration method and device for vehicle-mounted laser scanning system - Google Patents
External parameter calibration method and device for vehicle-mounted laser scanning system Download PDFInfo
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- CN111650598A CN111650598A CN201910121401.5A CN201910121401A CN111650598A CN 111650598 A CN111650598 A CN 111650598A CN 201910121401 A CN201910121401 A CN 201910121401A CN 111650598 A CN111650598 A CN 111650598A
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
- G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Abstract
The application provides a method and a device for calibrating external parameters of a vehicle-mounted laser scanning system, wherein the method comprises the following steps: in the selected calibration scene, data acquisition is carried out according to a preset multidirectional acquisition route; calculating initial values of external parameters by using a hand-eye calibration method based on the acquired data; the method comprises the steps that point clouds at different positions collected by a laser radar are spliced according to an iterative nearby point algorithm by combining pose information of an inertial navigation system and calculated external parameter initial values, and matching distance residual errors are calculated; optimizing the external parameters by adopting a nonlinear optimization algorithm, updating initial values of the external parameters by using the optimized external parameters, recalculating the matching distance residual errors, and performing repeated iterative computation; and taking the external parameter as a calibration external parameter until the matching distance residual error is smaller than a preset threshold value or the iteration times reach the maximum iteration times. The method can quickly and automatically realize the accurate calibration of the external parameters of the vehicle-mounted laser scanning system under the conditions of no need of fixing a calibration field and no need of manual participation in point selection.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a method and a device for calibrating external parameters of a vehicle-mounted laser scanning system.
Background
The vehicle-mounted laser scanning technology can acquire urban three-dimensional geographic data with high efficiency, high precision and low cost, and is one of the most advanced three-dimensional geographic data acquisition means. The accurate external reference calibration of the vehicle-mounted laser scanning system is a precondition for obtaining high-precision vehicle-mounted laser point cloud.
The prior external reference calibration technology mainly comprises the following technologies:
the first method comprises the following steps: and establishing a three-dimensional calibration field based on the control points, manually selecting corresponding characteristic points of the control points under a local coordinate system of the LIDAR to form corresponding point pairs, listing a method equation set based on the positioning principle of the vehicle-mounted laser scanning system, and performing iterative solution.
The external reference calibration method based on the control points has poor flexibility, needs to establish a three-dimensional calibration field in a fixed field with a great amount of financial resources, needs to manually select the characteristic points corresponding to the control points in a local coordinate system of the LIDAR, and is low in efficiency.
And the second method comprises the following steps: the method for calibrating the external reference without the ground control point adopts the ground object in the real scene to replace the control point as the characteristic point for calculation.
The method for calibrating the external parameters without the ground control points adopts real scene ground objects to replace the control points, and carries out iterative solution based on the principle that the same ground object is matched with each other in different measurements. However, the same unified feature point pairs of the ground features still need to be manually selected from data measured at different times, and the manual point selection link still slows down the calibration progress, which leads to low efficiency.
Disclosure of Invention
In view of the above, the application provides a method and a device for calibrating external parameters of a vehicle-mounted laser scanning system, which can quickly and automatically realize accurate calibration of the external parameters of the vehicle-mounted laser scanning system without fixing a calibration field and manually participating in point selection.
In order to solve the technical problem, the technical scheme of the application is realized as follows:
a method for calibrating external parameters of a vehicle-mounted laser scanning system is applied to the vehicle-mounted laser scanning system, and comprises the following steps:
in the selected calibration scene, data acquisition is carried out according to a preset multidirectional acquisition route;
calculating initial values of external parameters by using a hand-eye calibration method based on the acquired data;
the method comprises the steps that point clouds at different positions collected by a laser radar are spliced according to an iterative nearby point algorithm by combining pose information of an inertial navigation system and calculated external parameter initial values, and matching distance residual errors are calculated;
optimizing the external parameters by adopting a nonlinear optimization algorithm, updating initial values of the external parameters by using the optimized external parameters, recalculating the matching distance residual errors, and performing repeated iterative computation; and taking the external parameter as a calibration external parameter until the matching distance residual error is smaller than a preset threshold value or the iteration times reach the maximum iteration times.
The utility model provides a vehicle-mounted laser scanning system external reference calibration device, is applied to on the vehicle-mounted laser scanning system, and the device includes: the device comprises a collecting unit, a calculating unit and a positioning unit;
the acquisition unit is used for acquiring data in a selected calibration scene according to a preset multidirectional acquisition route;
the calculation unit is used for calculating the initial values of the external parameters by using a hand-eye calibration method based on the data acquired by the acquisition unit;
the positioning unit is used for splicing point clouds at different positions collected by the laser radar according to an iterative close point algorithm by combining pose information of the inertial navigation system and external parameter initial values calculated by the calculating unit, and calculating a matching distance residual error; optimizing the external parameters by adopting a nonlinear optimization algorithm, updating initial values of the external parameters by using the optimized external parameters, recalculating the matching distance residual errors, and performing repeated iterative computation; and taking the external parameter as a calibration external parameter until the matching distance residual error is smaller than a preset threshold value or the iteration times reach the maximum iteration times.
An electronic device comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the external reference calibration method of the vehicle-mounted laser scanning system.
A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for external reference calibration of a vehicle laser scanning system.
According to the technical scheme, any scene is selected and is automatically calibrated by using a hand-eye calibration method and an iterative nearby point algorithm splicing method, and the external parameters of the vehicle-mounted laser scanning system are accurately calibrated quickly and automatically under the conditions that a fixed calibration field and manual point selection are not needed.
Drawings
FIG. 1 is a schematic view of an external reference calibration process of a vehicle-mounted laser scanning system in an embodiment of the present application;
FIG. 2 is a schematic diagram of a predetermined multi-directional acquisition circuit in the embodiment of the present application;
fig. 3 is a schematic structural diagram of an apparatus applied to the above-described technology in the embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly apparent, the technical solutions of the present invention are described in detail below with reference to the accompanying drawings and examples.
The embodiment of the application provides a method for calibrating external parameters of a vehicle-mounted laser scanning system, which is applied to the vehicle-mounted laser scanning system, selects any scene, and uses hand-eye calibration and an Iterative close Point algorithm (ICP) to carry out automatic calibration.
The following describes in detail an external reference calibration process of the vehicle-mounted laser scanning system in the embodiment of the present application with reference to the accompanying drawings.
The vehicle-mounted laser scanning device in the embodiment of the present application is a device in a broad sense, and may also be referred to as a vehicle-mounted laser scanning system.
The vehicle-mounted laser scanning system comprises: a GPS/INS combination navigation system, LIDAR laser scanner and carrier platform. They are mounted on the acquisition carrier platform in a fixed geometric manner. In the moving process of the carrier platform, the LIDAR continuously scans the ground objects by the vehicle-mounted laser scanning system; and simultaneously, the GPS/INS integrated navigation system records GPS observation data and inertial measurement data at high frequency, and position and attitude information of the platform is obtained through post-processing.
Referring to fig. 1, fig. 1 is a schematic diagram of an external reference calibration process of a vehicle-mounted laser scanning system in an embodiment of the present application. The method comprises the following specific steps:
and 101, acquiring data according to a preset multidirectional acquisition route in the selected calibration scene.
The selected calibration scenario preferably specifies the following conditions: the GPS signal quality is excellent, and the ground features are rich.
In order to realize excellent GPS signal quality, a relatively open scene, namely a scene without a tall building, is selected;
the scenes with rich ground features can be scenes with more street lamp poles, trees, static automobiles and the like.
In the embodiment of the application, a fixed calibration field is not needed, and a better calibration scene can be selected in an actual environment, so that the realization mode has high flexibility and operability.
The vehicle-mounted laser scanning system mainly comprises the following coordinate systems: a LIDAR coordinate system, a combined inertial navigation coordinate system, a WGS84 global coordinate system.
The rigid geometric relationship exists between the LIDAR coordinate system and the combined inertial navigation coordinate system, and can be expressed by rotation and translation, namely the calibration parameters required to be solved by the invention. The vehicle-mounted laser scanner positioning process is that a laser point under a LIDAR coordinate system is converted into a combined inertial navigation coordinate system from a calibration external parameter, and a pose obtained by the combined inertial navigation in real time is converted into a WGS global coordinate system, so that the mapping positioning process is completed. The specific formula is as follows:
wherein the content of the first and second substances,
in the formula (I), the compound is shown in the specification,
is from the laser point coordinates in the LIDAR coordinate system,
is the point cloud under the global coordinate system of the WGS84 after the conversion;
the external parameter needs to be calibrated by the vehicle-mounted scanning system, namely the external parameter is the LIDAR external parameter.
The dynamic pose parameters of the acquisition system are acquired in real time by the combined inertial navigation.
In the embodiment of the application, the multi-direction acquisition route can be planned in advance and at least comprises three pairs of running routes with different positions and orientations, so that when the vehicle-mounted laser scanning system runs according to the preset multi-direction acquisition route, the acquired data at least comprises three pairs of data during movement with different positions and orientations.
For example, if the vehicle moves straight forward and backward, turns left, turns right, and the like, in order to meet the requirement of data acquisition, reference may be made to fig. 2 for presetting a multi-directional acquisition route in the embodiment of the present application, and fig. 2 is a schematic diagram of the multi-directional acquisition route in the embodiment of the present application. But is not limited to the route shown in fig. 2.
The carrier cart of the laser scanning system carried in the vehicle of fig. 2 can be moved in the direction indicated by the arrow and along the path shown in the figure and collect data. Specifically, forward and reverse acquisition is carried out according to the same route, and the route process comprises forward and reverse acquisition, left turning and right turning.
And 102, calculating initial values of the external parameters by using a hand-eye calibration method based on the acquired data.
Because the LIDAR scanner and the combined inertial navigation system are mounted on the carrier in a rigid fixed mode, the measurement relationship between the LIDAR scanner and the combined inertial navigation system does not directly correspond to each other, and therefore a hand-eye calibration method is needed to be used for solving initial values of external parameters.
Let us assume at tiThe position and the attitude of the moment combination inertial navigation are
Obtaining a position pose of a LIDAR scanner using a laser radar odometer technique
Then the classical hand-eye calibration problem is solved
Such that:
wherein
Is the relative motion of the two sensors.
Because the carrier platform moves in the approximate plane, the problem can be simplified into a two-dimensional hand-eye calibration problem, and then the following formula is established:
(Rins-i)×t＝R×tlidar-tins
wherein R isinsAnd tinsRespectively, the rotational and translational parts of the relative motion of the combined inertial navigation system, tlidarIs the translational part of the relative motion of the laser radar, and R and t are the rotation and translation of the calibration external parameter.
Order to
Then there are:
therefore, two constraints can be formed by the relative motion, when more than three motions with different position orientations exist, the equation is full-rank, namely, the linear solution can be carried out, and the initial external parameter value is calculated.
And 103, splicing the point clouds at different positions collected by the laser radar according to an iterative nearest point algorithm by combining the pose information of the inertial navigation system and the calculated external parameter initial values, and calculating a matching distance residual error.
The specific implementation process of step 103 and step 104 includes the following steps:
firstly, a point cloud data conversion equation acquired at different positions is as follows, point clouds converted in the same scene have the same coordinates in principle, but the point clouds are not aligned due to initial external reference errors;
taking the point cloud data at the position 1 and the position 2 as an example:
position 1 point cloud information:
point cloud information for location 2:
and secondly, splicing the point cloud of the position 1 and the point cloud of the position 2 based on an ICP (inductively coupled plasma) algorithm, and calculating a matching distance residual error.
The ICP algorithm flows as follows: calculating a nearest point set of two point clouds; computing a transformation matrix based on the nearest point set; thirdly, applying the transformation matrix to obtain a point set after rigid body transformation; fourthly, calculating the distance between the nearest point sets by adopting a target distance function, stopping iteration if a convergence condition is met, and returning to the first step of iterative calculation if the convergence condition is not met; and fifthly, calculating the distance between the two point cloud nearest point sets after final convergence to serve as a residual error.
Thirdly, constructing a residual error equation according to the first step and the second step, constructing a residual error equation, optimizing the external parameters by adopting a nonlinear optimization algorithm (such as an LM (linear optimization) algorithm), updating initial values of the external parameters by using the optimized external parameters (namely updating the optimized external parameters into the first step), recalculating a matching distance residual error, and performing repeated iterative computation; and taking the external parameter as a calibration external parameter until the matching distance residual is smaller than a preset threshold or the iteration number reaches the maximum iteration number, ending the iterative computation, and determining the calibration external parameter.
And finishing accurate external parameter calibration of the vehicle-mounted laser scanning system.
The point cloud data during data stitching may be the data acquired in step 102, or may be acquired by acquiring the data again, as long as the point cloud data is acquired for the same scene.
In the embodiment of the application, a real scene with abundant textures is selected as a calibration field, an acquisition route with enough constraint is designed, and the flexibility and the operability are strong; in the resolving process, a hand-eye calibration model is adopted for initial parameter estimation, parameter optimization is carried out based on an ICP point cloud splicing technology, the whole calculating process is fully automated, manual participation is not needed, and external parameters of the vehicle-mounted laser scanning system can be efficiently, quickly and accurately calculated.
Based on the same inventive concept, the embodiment of the application also provides an external reference calibration device of the vehicle-mounted laser scanning system, which is applied to the vehicle-mounted laser scanning system. Referring to fig. 3, fig. 3 is a schematic structural diagram of an apparatus applied to the above technology in the embodiment of the present application. The device includes: the device comprises an acquisition unit 301, a calculation unit 302 and a positioning unit 303;
the acquisition unit 301 is configured to perform data acquisition in the selected calibration scene according to a preset multidirectional acquisition route;
a calculating unit 302, configured to calculate an initial value of the external parameter by using a hand-eye calibration method based on the data acquired by the acquiring unit 301;
the positioning unit 303 is used for splicing point clouds at different positions collected by the laser radar according to an iterative close point algorithm by combining pose information of the inertial navigation system and external reference initial values calculated by the calculating unit 302, and calculating a matching distance residual error; optimizing the external parameters by adopting a nonlinear optimization algorithm, updating initial values of the external parameters by using the optimized external parameters, recalculating the matching distance residual errors, and performing repeated iterative computation; and taking the external parameter as a calibration external parameter until the matching distance residual error is smaller than a preset threshold value or the iteration times reach the maximum iteration times.
Preferably, the first and second liquid crystal films are made of a polymer,
the calibration scene is a scene with excellent GPS signal quality and rich ground objects.
Preferably, the first and second liquid crystal films are made of a polymer,
the acquisition unit 301 is specifically configured to acquire data including at least three pairs of data in motion at different positions and orientations.
Preferably, the first and second liquid crystal films are made of a polymer,
the calculating unit 302 is specifically configured to simplify the process of solving the initial external parameter values into a two-dimensional hand-eye calibration problem when calculating the initial external parameter values by using a hand-eye calibration method based on the acquired data.
The units of the above embodiments may be integrated into one body, or may be separately deployed; may be combined into one unit or further divided into a plurality of sub-units.
In addition, an electronic device is further provided in an embodiment of the present application, and includes a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of the external reference calibration method for the vehicle-mounted laser scanning system when executing the program.
In addition, a computer-readable storage medium is further provided in the embodiments of the present application, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the external reference calibration method for a vehicle-mounted laser scanning system are implemented.
In summary, the real scene with abundant textures is selected as the calibration field, the acquisition route with enough constraint is designed, and the flexibility and the operability are strong; in the resolving process, a hand-eye calibration model is adopted for initial parameter estimation, parameter optimization is carried out based on an ICP point cloud splicing technology, the whole calculating process is fully automated, manual participation is not needed, and external parameters of the vehicle-mounted laser scanning system can be efficiently, quickly and accurately calculated.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A vehicle-mounted laser scanning system external parameter calibration method is applied to a vehicle-mounted laser scanning system, and is characterized by comprising the following steps:
in the selected calibration scene, data acquisition is carried out according to a preset multidirectional acquisition route;
calculating initial values of external parameters by using a hand-eye calibration method based on the acquired data;
the method comprises the steps that point clouds at different positions collected by a laser radar are spliced according to an iterative nearby point algorithm by combining pose information of an inertial navigation system and calculated external parameter initial values, and matching distance residual errors are calculated;
optimizing the external parameters by adopting a nonlinear optimization algorithm, updating initial values of the external parameters by using the optimized external parameters, recalculating the matching distance residual errors, and performing repeated iterative computation; and taking the external parameter as a calibration external parameter until the matching distance residual error is smaller than a preset threshold value or the iteration times reach the maximum iteration times.
2. The method of claim 1,
the calibration scene is a scene with excellent GPS signal quality and abundant ground objects.
3. The method of claim 1,
the acquired data at least comprises three pairs of data in motion with different position orientations.
4. The method according to any one of claims 1 to 3, wherein when calculating the initial external parameter values by using a hand-eye calibration method based on the collected data, the process of solving the initial external parameter values is simplified to a two-dimensional hand-eye calibration problem.
5. The utility model provides a vehicle-mounted laser scanning system external reference calibration device, is applied to on the vehicle-mounted laser scanning system, its characterized in that, the device includes: the device comprises a collecting unit, a calculating unit and a positioning unit;
the acquisition unit is used for acquiring data in a selected calibration scene according to a preset multidirectional acquisition route;
the calculation unit is used for calculating the initial values of the external parameters by using a hand-eye calibration method based on the data acquired by the acquisition unit;
the positioning unit is used for splicing point clouds at different positions collected by the laser radar according to an iterative close point algorithm by combining pose information of the inertial navigation system and external parameter initial values calculated by the calculating unit, and calculating a matching distance residual error; optimizing the external parameters by adopting a nonlinear optimization algorithm, updating initial values of the external parameters by using the optimized external parameters, recalculating the matching distance residual errors, and performing repeated iterative computation; and taking the external parameter as a calibration external parameter until the matching distance residual error is smaller than a preset threshold value or the iteration times reach the maximum iteration times.
6. The apparatus of claim 5,
the calibration scene is a scene with excellent GPS signal quality and abundant ground objects.
7. The apparatus of claim 5,
the acquisition unit is specifically configured to acquire data including at least three pairs of data during movement at different positions and orientations.
8. The apparatus according to any one of claims 5 to 7,
the calculation unit is specifically configured to simplify the process of solving the initial external parameter value into a two-dimensional hand-eye calibration problem when calculating the initial external parameter value by using a hand-eye calibration method based on the acquired data.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-4 when executing the program.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method of any one of claims 1 to 4.
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| CN113310505A (en) * | 2021-06-15 | 2021-08-27 | 苏州挚途科技有限公司 | External parameter calibration method and device of sensor system and electronic equipment |
| CN113310505B (en) * | 2021-06-15 | 2024-04-09 | 苏州挚途科技有限公司 | External parameter calibration method and device of sensor system and electronic equipment |
| CN113340334A (en) * | 2021-07-29 | 2021-09-03 | 新石器慧通（北京）科技有限公司 | Sensor calibration method and device for unmanned vehicle and electronic equipment |
| CN113838143A (en) * | 2021-09-13 | 2021-12-24 | 三一专用汽车有限责任公司 | Method and device for determining calibration external parameter, engineering vehicle and readable storage medium |
| CN114440928A (en) * | 2022-01-27 | 2022-05-06 | 杭州申昊科技股份有限公司 | Combined calibration method for laser radar and odometer, robot, equipment and medium |
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