CN111902732A - 一种探测装置初始状态标定方法及装置 - Google Patents
一种探测装置初始状态标定方法及装置 Download PDFInfo
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- CN111902732A CN111902732A CN201980005420.XA CN201980005420A CN111902732A CN 111902732 A CN111902732 A CN 111902732A CN 201980005420 A CN201980005420 A CN 201980005420A CN 111902732 A CN111902732 A CN 111902732A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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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
- G01S17/88—Lidar systems specially adapted for specific applications
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Abstract
本发明实施例提供了一种探测装置的初始状态标定方法及装置。其中，方法包括：获取所述探测装置向目标场景发射信号而产生的回波信号，所述目标场景包括目标反射物，所述发射信号和所述回波信号经过所述第一光学器件和所述第二光学器件；根据所述回波信号确定所述目标反射物的点云数据；根据所述点云数据，计算所述第一光学器件对应的第一零位偏差和所述第二光学器件对应的第二零位偏差。如此，可以实现探测装置的初始状态的全自动标定，提高初始状态标定的效率。
Description
PCT国内申请，说明书已公开。
Claims (31)
- PCT国内申请，权利要求书已公开。
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/076995 WO2020177076A1 (zh) | 2019-03-05 | 2019-03-05 | 一种探测装置初始状态标定方法及装置 |
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| Publication Number | Publication Date |
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| CN111902732A true CN111902732A (zh) | 2020-11-06 |
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| CN (1) | CN111902732A (zh) |
| WO (1) | WO2020177076A1 (zh) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113985420A (zh) * | 2021-12-28 | 2022-01-28 | 四川吉埃智能科技有限公司 | 一种斜45°激光雷达扫描光路误差补偿方法 |
| CN117214875A (zh) * | 2023-11-08 | 2023-12-12 | 山东富锐光学科技有限公司 | 一种激光雷达增量编码的零点校准方法与结构 |
Citations (11)
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| CA2287242A1 (en) * | 1997-04-25 | 1998-10-25 | Baumer Optronic Gmbh | Sensor unit, process and device for inspecting the surface of an object |
| DE102007005875A1 (de) * | 2007-02-06 | 2008-08-14 | Carl Zeiss Smt Ag | Vorrichtung und Verfahren zur Bestimmung der Ausrichtung von Oberflächen von optischen Elementen |
| CN101865996A (zh) * | 2010-05-19 | 2010-10-20 | 北京航空航天大学 | 一种用于机载激光雷达俯仰角偏差实时补偿的方法与装置 |
| CN102566295A (zh) * | 2010-12-31 | 2012-07-11 | 上海微电子装备有限公司 | 光刻设备及测量多光斑零位偏差的方法 |
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| CN104296654A (zh) * | 2014-09-26 | 2015-01-21 | 中国科学院光电研究院 | 激光跟踪仪位置探测器零位安装误差的检测装置和方法 |
| CN106371102A (zh) * | 2016-10-08 | 2017-02-01 | 中国科学院光电技术研究所 | 基于自适应光学的逆合成孔径激光雷达信号接收系统 |
| CN107192350A (zh) * | 2017-05-19 | 2017-09-22 | 中国人民解放军信息工程大学 | 一种三维激光扫描仪内参数标定方法及装置 |
| WO2018176274A1 (en) * | 2017-03-29 | 2018-10-04 | SZ DJI Technology Co., Ltd. | A lidar sensor system with small form factor |
| CN108663125A (zh) * | 2017-03-31 | 2018-10-16 | 上海微电子装备（集团）股份有限公司 | 波前传感器的参数标定装置和方法 |
| CN109270551A (zh) * | 2018-11-02 | 2019-01-25 | 广西师范大学 | 一种面阵扫描式激光远距离三维测量系统 |
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2019
- 2019-03-05 WO PCT/CN2019/076995 patent/WO2020177076A1/zh active Application Filing
- 2019-03-05 CN CN201980005420.XA patent/CN111902732A/zh active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2287242A1 (en) * | 1997-04-25 | 1998-10-25 | Baumer Optronic Gmbh | Sensor unit, process and device for inspecting the surface of an object |
| DE102007005875A1 (de) * | 2007-02-06 | 2008-08-14 | Carl Zeiss Smt Ag | Vorrichtung und Verfahren zur Bestimmung der Ausrichtung von Oberflächen von optischen Elementen |
| CN101865996A (zh) * | 2010-05-19 | 2010-10-20 | 北京航空航天大学 | 一种用于机载激光雷达俯仰角偏差实时补偿的方法与装置 |
| CN102566295A (zh) * | 2010-12-31 | 2012-07-11 | 上海微电子装备有限公司 | 光刻设备及测量多光斑零位偏差的方法 |
| CN102941410A (zh) * | 2012-10-18 | 2013-02-27 | 北京航空航天大学 | 一种点扫描三维测量系统振镜标定方法 |
| CN104296654A (zh) * | 2014-09-26 | 2015-01-21 | 中国科学院光电研究院 | 激光跟踪仪位置探测器零位安装误差的检测装置和方法 |
| CN106371102A (zh) * | 2016-10-08 | 2017-02-01 | 中国科学院光电技术研究所 | 基于自适应光学的逆合成孔径激光雷达信号接收系统 |
| WO2018176274A1 (en) * | 2017-03-29 | 2018-10-04 | SZ DJI Technology Co., Ltd. | A lidar sensor system with small form factor |
| CN108663125A (zh) * | 2017-03-31 | 2018-10-16 | 上海微电子装备（集团）股份有限公司 | 波前传感器的参数标定装置和方法 |
| CN107192350A (zh) * | 2017-05-19 | 2017-09-22 | 中国人民解放军信息工程大学 | 一种三维激光扫描仪内参数标定方法及装置 |
| CN109270551A (zh) * | 2018-11-02 | 2019-01-25 | 广西师范大学 | 一种面阵扫描式激光远距离三维测量系统 |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113985420A (zh) * | 2021-12-28 | 2022-01-28 | 四川吉埃智能科技有限公司 | 一种斜45°激光雷达扫描光路误差补偿方法 |
| CN113985420B (zh) * | 2021-12-28 | 2022-05-03 | 四川吉埃智能科技有限公司 | 一种斜45°激光雷达扫描光路误差补偿方法 |
| CN117214875A (zh) * | 2023-11-08 | 2023-12-12 | 山东富锐光学科技有限公司 | 一种激光雷达增量编码的零点校准方法与结构 |
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| Publication number | Publication date |
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| WO2020177076A1 (zh) | 2020-09-10 |
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Application publication date: 20201106 |