CN111771137A - 雷达外参标定方法、装置及存储介质 - Google Patents

雷达外参标定方法、装置及存储介质 Download PDF

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Publication number
CN111771137A
CN111771137A CN201980005608.4A CN201980005608A CN111771137A CN 111771137 A CN111771137 A CN 111771137A CN 201980005608 A CN201980005608 A CN 201980005608A CN 111771137 A CN111771137 A CN 111771137A
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radar
user
external
parameter
coordinate system
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CN201980005608.4A
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王涵
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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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

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • User Interface Of Digital Computer (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

本发明实施例提供一种雷达外参标定方法、装置及存储介质。本发明实施例通过提供用户交互界面，使得用户可以在该用户交互界面的参数输入区域中可视化地输入外参，并根据用户在该参数输入区域中输入的多个雷达分别对应的外参，对该多个雷达中每个雷达探测到的点云进行位置转换，若位置转换后的点云不在同一坐标系中，用户可以在该参数输入区域中可视化地调整多个雷达分别对应的外参，以确定每个雷达的目标外参，使得每个雷达探测到的点云经过每个雷达的目标外参进行位置转换后位于同一坐标系中，从而使得用户不需要非常复杂的算法设计以及合理的代码编写工作，即可很容易的确定出位于同一可移动平台的不同雷达之间的转换关系。

Description

PCT国内申请，说明书已公开。

Claims (25)

  1. PCT国内申请，权利要求书已公开。
CN201980005608.4A 2019-01-30 2019-01-30 雷达外参标定方法、装置及存储介质 Pending CN111771137A (zh)

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PCT/CN2019/073804 WO2020154936A1 (zh) 2019-01-30 2019-01-30 雷达外参标定方法、装置及存储介质

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CN111771137A true CN111771137A (zh) 2020-10-13

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Cited By (1)

* Cited by examiner, † Cited by third party
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CN113066006A (zh) * 2021-04-25 2021-07-02 天津云圣智能科技有限责任公司 机载激光雷达点云数据的解算方法、装置和电子设备

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US9215382B1 (en) * 2013-07-25 2015-12-15 The United States Of America As Represented By The Secretary Of The Navy Apparatus and method for data fusion and visualization of video and LADAR data
CN107229043A (zh) * 2017-05-22 2017-10-03 中国农业科学院农业资源与农业区划研究所 一种距离传感器外参数标定方法和系统
CN107464266A (zh) * 2017-08-30 2017-12-12 广州视源电子科技股份有限公司 摄像机标定参数的校正方法、装置、设备和存储介质
CN107505644A (zh) * 2017-07-28 2017-12-22 武汉理工大学 基于车载多传感器融合的三维高精度地图生成系统及方法
CN108613697A (zh) * 2018-05-31 2018-10-02 北京智行者科技有限公司 用于对车辆传感器的参数进行标定的设备和方法
CN109001711A (zh) * 2018-06-05 2018-12-14 北京智行者科技有限公司 多线激光雷达标定方法
CN109100707A (zh) * 2018-08-21 2018-12-28 百度在线网络技术（北京）有限公司 雷达传感器的标定方法、装置、设备及存储介质

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20130051681A (ko) * 2011-11-10 2013-05-21 한국전자통신연구원 노면 표식물 인식 시스템 및 방법

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9215382B1 (en) * 2013-07-25 2015-12-15 The United States Of America As Represented By The Secretary Of The Navy Apparatus and method for data fusion and visualization of video and LADAR data
CN107229043A (zh) * 2017-05-22 2017-10-03 中国农业科学院农业资源与农业区划研究所 一种距离传感器外参数标定方法和系统
CN107505644A (zh) * 2017-07-28 2017-12-22 武汉理工大学 基于车载多传感器融合的三维高精度地图生成系统及方法
CN107464266A (zh) * 2017-08-30 2017-12-12 广州视源电子科技股份有限公司 摄像机标定参数的校正方法、装置、设备和存储介质
CN108613697A (zh) * 2018-05-31 2018-10-02 北京智行者科技有限公司 用于对车辆传感器的参数进行标定的设备和方法
CN109001711A (zh) * 2018-06-05 2018-12-14 北京智行者科技有限公司 多线激光雷达标定方法
CN109100707A (zh) * 2018-08-21 2018-12-28 百度在线网络技术（北京）有限公司 雷达传感器的标定方法、装置、设备及存储介质

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113066006A (zh) * 2021-04-25 2021-07-02 天津云圣智能科技有限责任公司 机载激光雷达点云数据的解算方法、装置和电子设备
CN113066006B (zh) * 2021-04-25 2023-03-03 天津云圣智能科技有限责任公司 机载激光雷达点云数据的解算方法、装置和电子设备

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