CN113030920B - Calibration angle precision verification method and device, equipment and storage medium - Google Patents
Calibration angle precision verification method and device, equipment and storage medium Download PDFInfo
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- CN113030920B CN113030920B CN202110284275.2A CN202110284275A CN113030920B CN 113030920 B CN113030920 B CN 113030920B CN 202110284275 A CN202110284275 A CN 202110284275A CN 113030920 B CN113030920 B CN 113030920B
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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
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Abstract
The embodiment of the disclosure relates to the technical field of laser radars, and provides a method, a device, equipment and a storage medium for verifying the precision of a calibration angle of a laser radar. The precision verification method for the calibration angle of the laser radar comprises the following steps: driving a rotating platform with the laser radar placed thereon to rotate and recording a first rotating angle of the rotating platform; triggering a laser radar to scan a preset space when a rotating platform rotates, and generating point cloud data according to a scanning result; the point cloud data includes: scanning a preset space by using a laser radar to obtain a distance value and a calibration angle; selecting target data with a distance value equal to the calibration distance from the point cloud data, and determining a target angle recorded when the target data is generated from the first rotation angle; a marker is placed in the preset space; the calibration distance is as follows: the distance between the marker and the lidar; and determining the precision of the calibration angle of the laser radar according to the calibration angle and the target angle contained in the target data.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a method, a device, equipment and a storage medium for verifying the precision of a calibration angle of a laser radar.
Background
The laser radar measures information such as a distance and an orientation of a target object by emitting a laser beam to the target object and receiving a beam reflected from the target object. In order to measure information of a target object, the lidar will emit a plurality of laser beams within its field of view. Each laser beam has a unique calibration angle, and the relative position information such as the distance and/or the direction of the target object relative to the laser radar is determined based on the calibration angle of the emitted laser.
Due to errors of the calibration method and the calibration system of the calibration angle, the calibration angle usually has a certain error with the actual angle of the laser radar, and therefore the error needs to be found through a certain method, so that the precision of the calibration angle of the laser radar is obtained.
In the related art, when the precision of the calibration angle of the laser radar is verified, the relative position between the laser radar and the marker is fixed, the distance between the laser radar and the marker is determined, and the included angle between the laser radar and the marker is obtained by means of trigonometric functions and the like. The verification method generally has higher requirements on the precision of a test scene and test equipment, and has the problem of low verification efficiency.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a storage medium for verifying the precision of a calibration angle of a laser radar.
A first aspect of the embodiments of the present disclosure provides a method for verifying accuracy of a calibration angle of a laser radar, including:
driving a rotating platform with a laser radar to rotate and recording a first rotating angle of the rotating platform;
triggering the laser radar to scan a preset space to obtain point cloud data when the rotating platform rotates; a marker for assisting the calibration angle verification of the laser radar is placed in the preset space;
determining a second rotation angle of the rotating platform when the laser of the laser radar scans the marker according to the point cloud data, the calibration distance and the first rotation angle;
and determining the precision of the calibration angle of the laser radar according to the calibration angle and the second rotation angle contained in the point cloud data.
Based on the above scheme, the determining a second rotation angle of the rotation platform when the laser of the laser radar scans the marker according to the point cloud data, the calibration distance and the first rotation angle includes:
screening out point cloud data with a distance value equal to the calibration distance from the point cloud data;
and determining the second rotation angle when any one beam of laser scans the marker according to the first rotation angle corresponding to the point cloud data with the distance value equal to the calibration distance.
Based on the above scheme, determining the second rotation angle when any one of the laser beams scans the marker according to the first rotation angle corresponding to the point cloud data with the distance value equal to the calibration distance includes:
determining the starting angle and the ending angle of each laser beam scanning the marker according to the screened data value; wherein the starting angle is: the first rotation angle corresponding to the starting moment when the laser is scanned to the marker; the termination angle is: the first rotation angle at the moment when the corresponding laser scans the marker is terminated;
and determining the second rotation angle of the corresponding laser beam when the laser beam is applied to the marker according to the mean value of the starting angle and the ending angle of the same laser beam.
Based on the above scheme, the determining the precision of the calibration angle of the laser radar according to the calibration angle and the second rotation angle included in the point cloud data includes:
determining an x calibration angle difference, wherein the x calibration angle difference is as follows: the difference between the calibration angle of the x-th beam of laser light and the calibration angle of the y-th beam of laser light; the x and the y are both positive integers, and the x is not equal to the y;
determining an x-th rotation angle difference, wherein the x-th rotation angle difference is: a difference between said second angle of rotation of said rotating platform when said lidar transmits said x-th beam of laser light and said second angle of rotation of said rotating platform when said lidar transmits said y-th beam of said laser light;
and obtaining the normalized angle difference of the x-th laser beam according to the difference between the x-th rotation angle difference and the x-th calibration angle difference.
Based on the above scheme, the determining the precision of the calibration angle of the laser radar according to the calibration angle and the second rotation angle included in the point cloud data includes:
determining the normalized angle difference with the maximum absolute value according to the normalized angle difference of the multiple beams of laser light;
and/or the presence of a gas in the atmosphere,
determining a variance value of the normalized angle difference for a plurality of the lasers.
Based on the above scheme, the calibration angle includes: azimuth and/or elevation of the lidar.
Based on the proposal, the method is characterized in that,
when the calibration angle is the azimuth angle, the laser radar is placed on the rotating platform in a first posture;
when the calibration angle is the pitch angle, the laser radar is attached to the rotating platform in a second posture;
and switching the laser radar from the first posture to a second posture, and rotating by 90 degrees by taking the center of the laser radar as a rotation center.
A second aspect of the embodiments of the present disclosure provides a device for verifying accuracy of a calibration angle of a laser radar, including:
the driving module is used for driving the rotating platform with the laser radar placed thereon to rotate and recording a first rotating angle of the rotating platform;
the scanning module is used for triggering the laser radar to scan a preset space to obtain point cloud data when the rotating platform rotates; a marker for assisting the calibration angle verification of the laser radar is placed in the preset space;
the first determining module is used for determining a second rotating angle of the rotating platform when the laser of the laser radar scans the marker according to the point cloud data, the calibration distance and the first rotating angle;
and the second determining module is used for determining the precision of the calibration angle of the laser radar according to the calibration angle and the second rotation angle contained in the point cloud data.
Based on the scheme, the first determining module is specifically configured to screen out point cloud data with a distance value equal to the calibration distance from the point cloud data; and determining the second rotation angle when any one beam of laser scans the marker according to the first rotation angle corresponding to the point cloud data with the distance value equal to the calibration distance.
Based on the above scheme, the first determining module is specifically configured to determine, according to the screened data value, an initial angle and an end angle at which each laser scans the marker; wherein the starting angle is: the first rotation angle corresponding to the starting moment when the laser is scanned to the marker; the termination angle is: the first rotation angle at the moment when the corresponding laser scans the marker is terminated; and determining the second rotation angle of the corresponding laser beam when the laser beam is applied to the marker according to the mean value of the starting angle and the ending angle of the same laser beam.
Based on the above scheme, the second determining module is specifically configured to determine an xth calibration angle difference, where the xth calibration angle difference is: the difference between the calibration angle of the x-th beam of laser and the calibration angle of the y-th beam of laser; both x and y are positive integers, and x is not equal to y; determining an x-th rotation angle difference, wherein the x-th rotation angle difference is: a difference between the second angle of rotation of the rotating platform when the lidar emits the x-th beam of the laser and the second angle of rotation of the rotating platform when the lidar emits the y-th beam of the laser; and obtaining the normalized angle difference of the x-th laser beam according to the difference between the x-th rotation angle difference and the x-th calibration angle difference.
Based on the above solution, the second determining module is specifically configured to determine the normalized angle difference with the largest absolute value according to the normalized angle difference of the multiple beams of laser light; and/or determining a variance value of the normalized angle differences for a plurality of the lasers.
Based on the above scheme, the calibration angle includes: azimuth and/or elevation of the lidar.
Based on the scheme, when the calibration angle is the azimuth angle, the laser radar is placed on the rotating platform in a first posture;
when the calibration angle is the pitch angle, the laser radar is attached to the rotating platform in a second posture;
and switching the laser radar from the first posture to a second posture, and rotating by 90 degrees by taking the center of the laser radar as a rotation center.
A third aspect of the embodiments of the present disclosure provides an apparatus for verifying accuracy of a calibration angle of a laser radar, including:
a memory storing computer executable instructions;
and the processor is connected with the memory and used for realizing the precision verification method of the calibration angle of the laser radar provided by any scheme of the first aspect by executing the computer executable instruction.
A fourth aspect of the embodiments of the present disclosure provides a computer storage medium having stored thereon computer-executable instructions; after being executed by a processor, the computer-executable instructions can implement the method for verifying the precision of the calibration angle of the laser radar according to any aspect of the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following beneficial effects: and placing the laser radar on a rotating platform, and utilizing the first rotating angle recorded in the rotating process of the rotating platform. The method has the advantages that the known calibration distance between the marker and the laser radar is utilized, the target data of the point cloud data generated when the laser radar scans the preset space and projected onto the marker by laser is selected, the target data and the recorded first rotation angle are combined, the requirement on verification equipment under a verification scene can be lowered according to the accuracy of the calibration angle in the point cloud data generated by the laser radar, a large amount of relatively complex calculations such as trigonometric functions are not involved, and the method has the advantages of simplicity in calculation and high efficiency.
Drawings
Fig. 1 is a schematic flowchart of a calibration angle verification method for a laser radar according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating an effect of a calibration angle verification of a laser radar according to an embodiment of the present invention;
FIG. 3 is a graphical illustration of point cloud data provided by an embodiment of the present invention;
fig. 4 is a schematic flowchart of a calibration angle verification method for a laser radar according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating an effect of a calibration angle verification of a laser radar according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a calibration angle verification apparatus for a laser radar according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
As shown in fig. 1, an embodiment of the present disclosure provides a method for verifying accuracy of a calibration angle of a laser radar, including:
s110: driving a rotating platform with a laser radar to rotate and recording a first rotating angle of the rotating platform;
s120: triggering the laser radar to scan a preset space when the rotating platform rotates, and generating point cloud data according to a scanning result; wherein a marker is placed in the preset space; the point cloud data includes: scanning the preset space by the laser radar to obtain a distance value and a calibration angle of laser emitted by scanning the preset space by the laser radar;
s130: selecting target data with the distance value equal to a calibration distance from the point cloud data, and determining a target angle recorded when the target data is generated from the first rotation angle; wherein, the calibration distance is as follows: a distance between the marker and the lidar;
s140: and determining the precision of the calibration angle of the laser radar according to the calibration angle contained in the target data and the target angle.
The method for verifying the precision of the calibration angle of the laser radar provided by the embodiment of the disclosure can be applied to any equipment for verifying the calibration angle of the laser radar. The device may be various terminal devices such as a Personal Computer (PC) handset, a laboratory Computer, etc. which can be connected to the rotating platform and read the first rotation angle of the rotating platform.
Fig. 2 is a schematic diagram illustrating a method for verifying the accuracy of a calibration angle of a laser radar according to an embodiment of the present disclosure. The laser radar is placed on the rotary platform, the marker can be a column with the same width from top to bottom, and the column has a certain width. The radar laser can emit a plurality of laser beams, and each laser beam can show laser spots when being emitted and then hitting an object. In addition, the laser beam of the laser radar is generally thin, and if the marker has a certain width, one laser beam cannot completely cover the whole width of the marker at a certain height. If the laser radar emits a certain laser beam, the laser beam can completely scan a certain surface of the marker along with the rotation of the rotating platform.
It is worth noting that: the marker located in the preset space and the laser radar are not shielded by an interference object, so that the laser radar can be ensured to project light emitted by the laser radar onto the marker when the laser radar rotates along with the rotating platform.
The lidar is a device which at least performs distance measurement and azimuth determination through the transmission and reception of laser. And the measuring signals emitted by the laser radar for ranging and measuring the azimuth angle are laser. The laser has the characteristic of small divergence angle, is used for distance measurement and azimuth angle determination, and has the characteristic of high measurement precision.
Illustratively, the lidar may be a Micro-Electro-Mechanical System (MEMS) lidar. The movement of the micro-vibration mirror in the MEMS is nonlinear, so that the precision of the overall calibration angle of the laser radar can be ensured after the calibration angle of each laser beam emitted by the laser radar is verified.
The laser radar can be pre-configured with a configuration file, and the configuration file records the time sequence of laser emitted by the laser radar and the calibration angle corresponding to the time sequence.
The calibration angle comprises: an azimuth angle characterizing the horizontal degree of rotation of the lidar and/or a pitch angle characterizing the vertical degree of rotation.
In the embodiment of the disclosure, the laser radar automatically generates the point cloud data of the laser beam according to the scanning result when scanning the preset space. The point cloud data includes: and the calibration angle is obtained by inquiring a configuration file according to the time sequence of the laser currently emitted by the laser radar.
Illustratively, a beam of laser light corresponds to a plurality of point cloud data; and a point cloud data may have at least three data values, an angle value of azimuth, a distance value, and an angle value of pitch angle. It is worth noting that: angle values of azimuth and/or pitch contained in the point cloud data.
Referring to fig. 3, a point in fig. 3 is located with three data values, which are a distance, an azimuth angle, and a pitch angle, respectively. Due to the occlusion of the marker in fig. 3, it is blank at a distance further than the nominal distance between the marker and the lidar, so that there are no points in fig. 3 that characterize the laser measurement.
The angular value of the azimuth angle can be understood as: the angle value of the marker and the laser radar in the horizontal plane is measured by the laser radar; the angular value of the pitch angle may be understood as: the lidar measures an angle value of the marker in a vertical plane of the lidar. The rotary platform can rotate, and the laser radar of the precision of the calibration angle to be verified is placed on the rotary platform, so that the laser radar can rotate along with the rotary platform, and the first rotation angle of the rotary platform can be regarded as the actual angle when the laser radar transmits the current laser.
For example, the central axis of the lidar placed on the rotating platform may pass through the center of rotation of the rotating platform. In this way, the first rotation angle of the rotating platform can be used for accurately determining the corresponding second rotation angle when the laser emitted by the laser radar reaches the marker.
In one embodiment, the rotating platform is driven to rotate in steps. The step rotation here is performed at a preset angle, and the rotation angle of the rotating platform after each step rotation is recorded, that is, the first rotation angle.
In another embodiment, the rotating platform may not rotate in a step-wise manner, but continuously rotate according to a real-time driving signal, in which case the rotation angle of the rotating platform may be recorded once at preset time intervals, thereby obtaining a plurality of the first rotation angles.
The target data is selected from the point cloud data, that is, the target data is the point cloud data, and the distance value is equal to the calibration distance.
The target angle is selected from the first rotation angles, that is, the first rotation angle, and is the first rotation angle of the rotating platform when the laser radar generates the target data. Namely, the first rotation angle is: and rotating the first rotation angle of the platform when the laser emitted by the laser radar is projected on the marker.
In one embodiment, the method further comprises:
and determining the precision value of the first rotation angle according to the precision requirement of the calibration angle of the laser radar. Illustratively, the accuracy of the first rotation angle is 1 to 2 orders of magnitude lower than the accuracy required for the calibration angle. Illustratively, the precision requirement of the calibration angle is 0.1 °, and then the precision of the first rotation angle is: 0.01 ° or 0.001 °. The precision requirement of the first rotating angle is at least one order of magnitude lower than that of the calibration angle, and firstly, the verification precision of the calibration angle of the laser radar based on the first rotating angle can be ensured; secondly, if the first rotation angle is 1 to 2 orders of magnitude lower than the precision of the calibration angle, the mechanical requirement on the rotation platform is low, and the complexity and the verification cost of the equipment can be reduced.
If the precision of the first rotation angle is at least one order of magnitude lower than that of the calibration angle contained in one point cloud data, one point cloud data corresponds to a plurality of first rotation angles.
In some embodiments, the calibration angle of the lidar is calibrated by a calibration system and then stored in various forms. For example, the calibration angle of each laser of the laser radar may be stored in a memory inside the laser radar in the form of a configuration file. Therefore, the equipment for verifying the precision of the calibration angle of the laser radar can read the calibration angle of each laser beam of the laser radar from the laser radar.
The preset space may be a verification space for verification of the calibration angle of the laser radar. A marker is disposed within the verification space. The marker is placed within the field of view of the lidar. Therefore, laser emitted by the laser radar can strike the marker, and the laser on the marker can be received by the laser radar after changing direction.
Exemplarily, the position of the marker in the preset space is determined according to the information of the laser emission power and/or the field range of the laser radar; alternatively, a distance between the marker and the lidar is determined.
The maximum distance between the marker and the laser radar is positively correlated with the laser emission power of the laser radar.
The laser emission power can be determined by reading a configuration file of the laser radar and the like, or information of a field range of the laser radar is read, so that the distance between the marker and the laser radar can be determined.
To simplify the calculation in the accuracy verification of the calibration angle, the markers may be: the appearance can be any object with a regular shape; illustratively, the marker may be one of the following objects: cylinder, cuboid, cube and rectangular plate. Alternatively, the marker may be an elongated object, i.e. an object with a low aspect ratio.
It is worth noting that: the markers are not limited to objects with regular appearance.
In the embodiment of the disclosure, the marker is located in the preset space and is kept static, and the laser radar emits laser on the rotating platform while selecting along with the rotating platform; and the calibration angle of each emitted laser beam is known and is calibrated by the calibration system.
The angle of rotation of the rotary platform when each laser beam scans the marker once should be the calibration angle of the laser beam emitted by the laser radar. Thus, in embodiments of the present disclosure, the one or more first angles of rotation that each laser scans a marker may determine the second angle of rotation that each laser scans a marker.
Therefore, the precision of the calibration angle of the laser beam emitted by the laser radar can be determined based on the difference between the second rotation angle and the calibration angle of the laser beam emitted by the laser radar.
If the angle difference between the calibration angle and the second rotation angle of the same laser beam is smaller, the precision of the calibration angle is higher; and conversely, the lower the precision of the calibration angle of the same laser beam is.
In one embodiment, as shown in fig. 4, the S140 may include:
s141: if one target data corresponds to a plurality of target angles, obtaining a second rotation angle representing the rotation angle of the rotating platform when the laser radar generates the target data according to the plurality of target angles;
s142: and determining the calibration angle precision of the laser radar according to the calibration angle and the second rotation angle contained in the target data.
If the laser emitted by the laser radar hits on the marker, the distance between the marker and the laser radar is known and is the calibration distance. The distance between other objects (such as a wall surface) in the preset space and the laser radar is unknown, and the unknown distance is different from the calibration distance; therefore, the point cloud data with the distance equal to the calibration distance can be screened out as the target data from the point cloud data formed by the laser radar in the laser emission and the laser receiving. And determining a second rotation angle of the rotary platform when the laser irradiates on the marker according to the first rotation angle of the rotary platform recorded during the generation of the target data.
Table 1 is a data table organized based on point cloud data and point cloud data of a rotating platform.
TABLE 1
The 1 st column in table 1 is the number of the laser emitted by the lidar; the first behavior in table 1: the first rotation angle that the rotary platform rotates. The laser number is one of the laser timing sequences. The laser emission number corresponds to the timing at which the laser radar emits laser light.
From column 2 to the last column of table 1 (not shown in table 1) and from row 2 to the last row of table 1 (not shown in table 1) are boolean values corresponding to distance values in the point cloud data. The Boolean values are: and comparing the distance value of the point cloud data with the calibration distance, if the distance value of the point cloud data is equal to the calibration distance, the Boolean value corresponding to the distance in the point cloud data is 1, otherwise, the Boolean value is 0. Point cloud data with a Boolean value of 1 is the target data; the first rotation angle corresponding to the boolean value of 1 is the target angle.
In the embodiment of the present disclosure, the rotation angle of the rotating platform (i.e. the first rotation angle) when the laser beam is projected onto the marker is determined according to a plurality of the first rotation angles. In the embodiment of the present disclosure, one of the second rotation angles may be determined according to a plurality of the first rotation angles, and the second rotation angle may be regarded as a rotation angle of the rotating platform when the laser beam scans the marker.
Because the calibration distance is the known distance between the laser radar and the marker, the first rotation angle for calculating the second rotation angle can be quickly selected from massive point cloud data based on the known calibration distance, and the method has the characteristics of small calculation amount and simplicity and convenience in calculation.
In one embodiment, the S141 may include:
determining a first target angle and a last target angle when the laser radar generates the target data based on the nth laser beam to scan the marker from a plurality of target angles;
and determining a second rotation angle of the rotating platform when the n-th laser scans the marker according to the mean value of the first target angle and the last target angle.
The first target angle may be considered as the starting angle of the nth beam of the laser scanning to the marker.
The last of the target angles may be an end angle at which scanning of the marker by the nth laser beam ends.
In an embodiment of the present disclosure, a mean of the start angle and the end angle determines the second rotation angle when the nth beam of the laser light impinges on the marker.
When the laser radar scans the marker through the emitted laser, point cloud data arranged according to a time sequence can be formed in a time domain.
If the nth laser beam emitted by the laser radar strikes the marker for the first time, the detection distance value of the laser radar is equal to the calibration distance, and when the nth laser beam is moved away from the marker, the detection distance value of the laser radar is changed from being equal to the calibration distance to being unequal to the calibration distance. Therefore, in the embodiment of the present disclosure, a first rotation angle of the rotating platform (i.e. the first target angle) when the laser beam scans the marker for the first time is determined according to the point cloud data, and a first rotation angle of the rotating platform (i.e. the last target angle) when the laser beam scans the marker for the end is determined. The first rotation angle of the rotating platform when the laser beam scans the marker for the first time is the starting angle, and the first rotation angle of the rotating platform when the laser beam scans the marker is the ending angle. In an embodiment of the present disclosure, the second rotation angle may be a mean of the start angle and the end angle. The second rotation angle is obtained by adopting the mode, so that the second rotation angle of the rotating platform when the laser radar scans the marker through a certain laser beam can be simply, conveniently and quickly determined.
Referring to fig. 5, when the rotating platform rotates counterclockwise and the laser radar scans the marker in the horizontal direction, the starting angle and the ending angle are in the position relationship shown in fig. 5. If the rotary platform is selected clockwise, the starting angle and the ending angle will be exactly opposite to the relative positions shown in fig. 5 when the laser radar scans the marker in the horizontal direction.
Wherein, the
A second rotation angle of the rotating platform when scanning the marker for the nth laser beam; the above-mentioned
The first rotation angle (i.e., the end angle) at which scanning of the marker is terminated for the nth laser beam; the above-mentioned
The first rotation angle (i.e., the starting angle) at which the n-th laser starts scanning the marker. mean represents the arithmetic mean.
In other embodiments, the second rotation angle may further be: the mean value of the first rotation angle of the laser beam from the start time of scanning to the marker to the end of scanning the marker.
In short, there are various ways to obtain the second rotation angle of the rotary platform when a certain laser beam scans the marker, and the method is not limited to any of the above.
To simplify the technology, in the embodiment of the present disclosure, the S142 may include:
determining an x calibration angle difference according to the target data, wherein the x calibration angle difference is as follows: a difference between a calibration angle included in the target data of the x-th beam of the laser and a calibration angle included in the target data of the y-th beam of the laser; both x and y are positive integers, and x is not equal to y;
determining an x-th rotation angle difference according to the target angle, wherein the x-th rotation angle difference is as follows: a difference between a second rotation angle corresponding to the target data of the x-th beam of laser light and the second rotation angle corresponding to the target data of the y-th beam of laser light;
and obtaining the normalized angle difference of the x-th laser beam according to the difference between the x-th rotation angle difference and the x-th calibration angle difference.
In the embodiment of the present disclosure, the calibration angle of the y-th laser beam and the second rotation angle of the rotating platform when the y-th laser beam scans the marker are both used as references; and respectively carrying out difference operation on the calibration angles and the corresponding second rotation angles of the other beams of laser light and the calibration angle and the corresponding second rotation angle of the y-th beam of laser light, and carrying out difference operation on the calibration angle difference and the rotation angle difference of the corresponding beams of laser light.
The y-th laser may be: in order to simplify calculation and ensure the verification accuracy of the calibration angle, in the embodiment of the present disclosure, the y-th laser may be the 1 st laser. Of course, in other embodiments, the y-th laser beam may also be the last 1 laser beam emitted by the lidar.
By adopting the mode, the problem of coordinate conversion caused by different differences between the coordinate system used during the determination of the calibration angle and the coordinate system used during the rotation of the rotating platform during the actual verification can be reduced, and the calculation is simplified.
In an exemplary manner, the first and second electrodes are,
wherein, delta dema x The calibrated angle difference of the x-th laser beam is obtained; the above-mentioned
For the nominal angle of the x-th laserDegree;
and the calibration angle of the y laser beam is shown.
In the embodiment of the present disclosure, the calibration angle difference may be calculated with reference to formula (2), but is not limited to calculating the calibration angle difference using formula (2).
Wherein Δ rot x The rotation angle difference of the x-th laser beam is obtained; the above-mentioned
The second rotation angle of the x laser beam is set;
the second rotation angle of the y-th laser beam.
In the embodiment of the present disclosure, the rotation angle difference may be calculated with reference to formula (3), but is not limited to calculating the rotation angle difference using formula (3).
If the calibration angle of the laser radar has high accuracy, then delta rot x And delta dema x The smaller the difference between the two is, otherwise, the accuracy of the calibration angle of the laser radar is low.
In the disclosed embodiment, the Δ rot x And delta dema x The normalized angle difference between may be: delta rot x Minus delta dema x May also be Δ dema x Minus Δ rot x The obtained normalized angle difference may be a positive value or a negative value, and the absolute value of the normalized angle difference can reflect the accuracy of the calibration angle of the laser beam; the smaller the absolute value of the normalized angle difference is, the more accurate the calibration angle of the laser beam is.
In some embodiments, the lidar is capable of emitting a plurality of lasers, each laser corresponding to an angular difference; the accuracy of the calibration angle of the laser radar may depend on the laser with the lowest accuracy of the calibration angle.
In the embodiment of the disclosure, the normalization processing of the calibration angle and the second rotation angle is realized by solving the calibration angle difference between the calibration angle of the x-beam laser and the calibration angle of the y-beam laser and the angle difference between the second rotation angle corresponding to the x-beam laser and the second rotation angle corresponding to the y-beam laser. Array operation can be adopted in the normalization processing process and/or in the process of determining the accuracy of the calibration angle of each laser beam based on the calibration angle difference and the rotation angle difference, and the method has the characteristics of convenience in calculation and high calculation speed.
Therefore, in the embodiment of the present disclosure, after the difference between the calibration angle difference and the rotation angle difference of the single laser beam is determined (i.e., after the normalized angle difference is obtained), statistical processing is further performed, so as to obtain the normalized angle difference with the largest absolute value.
Meanwhile, the consistency of the accuracy of the laser radar is considered, the difference of the distance and the direction measurement of different laser beams to the same object is reduced, and in the embodiment of the disclosure, the variance of the normalized angle difference of different laser beams is also obtained, so that the stability of the accuracy of the calibration angle of the laser radar is verified.
In other embodiments, in order to reflect the overall accuracy of the calibration angle of the laser radar, the method may further include obtaining a mean value of absolute values of the normalized angle differences of the different laser beams, which is not limited to the maximum absolute value of the difference.
In some embodiments, the variance may not be obtained if only the minimum or average accuracy of the calibration angle of the lidar is concerned.
The calibration angle may include: azimuth and/or elevation of the lidar.
And the azimuth angle and the pitch angle are calibration angles of the laser radar in different directions.
In some cases, to ensure that the calibration angle of the lidar put into use is sufficiently accurate, both the azimuth and pitch angles need to be verified.
In some embodiments, when the calibration angle is the azimuth angle, the lidar is placed on the rotating platform at a first attitude; when the calibration angle is the pitch angle, the laser radar is attached to the rotating platform in a second posture; and switching the laser radar from the first posture to a second posture, and rotating by 90 degrees by taking the center of the laser radar as a rotation center.
By adopting the verification method for the calibration angle of the laser radar provided by the embodiment, the direction and the pitch angle of the laser radar can be measured by rotating the laser radar and using a set of measuring system comprising a rotating platform and the like.
Exemplarily, the laser radar can scan the marker from two mutually perpendicular directions simultaneously when working, the rotation of the rotating platform actually simulates the rotation movement of the laser radar in one direction when working, and the accuracy of the calibration angle of the laser radar when working by itself is verified by using the rotation angle of the rotating platform.
By rotating the laser radar, namely changing the attitude of the laser radar, the precision verification of the calibration angles of the pitch angle and the azimuth angle of the laser radar can be completed only by utilizing the rotating platform which rotates in a plane.
In another embodiment, the accuracy of the calibration angles of the azimuth angle and the pitch angle of the laser radar can be verified through two rotating platforms with the rotating planes perpendicular to each other.
The embodiment of the disclosure provides a calibration angle verification method for a laser radar, which may include: the method comprises the steps that a laser radar to be verified is installed on a rotating mechanism, when the rotating mechanism drives the laser radar to be verified to rotate along a preset direction, point cloud data of the laser radar to be verified at a marker are obtained in real time, the rotating angle of the rotating mechanism is obtained in real time, and then the angle precision of the laser radar to be verified is determined according to the rotating angle and the point cloud data. The rotating mechanism is used as a more accurate coordinate system, and angle data of the laser radar can be accurately verified.
The invention has relatively simple requirements on test scenes.
The invention combines point cloud data to carry out precision verification.
The invention can effectively reduce the error of the test system and improve the test precision by combining the data processing algorithm.
As shown in fig. 6, an embodiment of the present disclosure provides an apparatus for verifying accuracy of a calibration angle of a laser radar, including:
the driving module 610 is used for driving the rotating platform provided with the laser radar to rotate and recording a first rotating angle of the rotating platform;
the scanning module 620 is configured to trigger the laser radar to scan a preset space when the rotating platform rotates, and generate point cloud data according to a scanning result; wherein a marker is placed in the preset space; the point cloud data includes: scanning the preset space by the laser radar to obtain a distance value and a calibration angle of laser emitted by scanning the preset space by the laser radar;
a first determining module 630, configured to select target data from the point cloud data, where the distance value is equal to a calibration distance, and determine a target angle recorded when the target data is generated from the first rotation angle; wherein, the calibration distance is as follows: a distance between the marker and the lidar;
and a second determining module 640, configured to determine the precision of the calibration angle of the laser radar according to the calibration angle included in the target data and the target angle.
In one embodiment, the driving module 610, the scanning module 620, the first determining module 630, and the second determining module 640 can be program modules; the program modules may be capable of performing the functions described herein after execution by a processor.
In other embodiments, the driving module 610, the scanning module 620, the first determining module 630 and the second determining module 640 may be a soft-hard combining module; the soft and hard combination module can be various programmable arrays; the programmable arrays include, but are not limited to: field programmable arrays and/or complex programmable arrays. In still other embodiments, the driving module 610, the scanning module 620, the first determining module 630, and the second determining module 640 can be pure hardware modules; the pure hardware modules include, but are not limited to: an application specific integrated circuit.
In an embodiment, the second determining module 640 is specifically configured to, if one piece of target data corresponds to a plurality of target angles, obtain, according to the plurality of target angles, a second rotation angle representing the rotation angle of the rotating platform when the laser radar generates the target data; and determining the calibration angle precision of the laser radar according to the calibration angle and the second rotation angle contained in the target data.
In an embodiment, the second determining module 630 is specifically configured to determine, from the plurality of target angles, a first target angle and a last target angle when the lidar generates the target data based on the nth laser scanning the marker; wherein n is any positive integer; and determining a second rotation angle of the rotating platform when the marker is scanned by the nth laser beam according to the mean value of the first target angle and the last target angle.
In an embodiment, the second determining module 640 is specifically configured to determine an xth calibration angle difference according to the target data, where the xth calibration angle difference is: a difference between a calibration angle included in the target data of the x-th beam of the laser and a calibration angle included in the target data of the y-th beam of the laser; the x and the y are both positive integers, and the x is not equal to the y; determining an x-th rotation angle difference according to the target angle, wherein the x-th rotation angle difference is as follows: a difference between a second rotation angle corresponding to the target data of the x-th beam of laser light and the second rotation angle corresponding to the target data of the y-th beam of laser light; and obtaining the normalized angle difference of the x-th laser beam according to the difference between the x-th rotation angle difference and the x-th calibration angle difference.
In an embodiment, the second determining module 640 is specifically configured to determine, according to the normalized angle differences of the multiple laser beams, the normalized angle difference with a largest absolute value; and/or determining a variance value of the normalized angle differences for a plurality of the lasers.
In one embodiment, the calibration angles include: azimuth and/or elevation of the lidar.
In one embodiment, when the calibration angle is the azimuth angle, the laser radar is placed on the rotating platform in a first posture; when the calibration angle is the pitch angle, the laser radar is attached to the rotating platform in a second posture; and switching the laser radar from the first posture to a second posture, and rotating by 90 degrees by taking the center of the laser radar as a rotation center.
The embodiment of the present disclosure further provides a calibration angle verification system for a laser radar, including: the rotating mechanism comprises a rotating platform and a controller for controlling the rotating platform to rotate;
the verification equipment is respectively connected with the controller and the laser radar positioned on the rotating platform and used for transmitting a control signal for controlling the driver to drive the rotating platform to select to the controller, reading a first rotating angle of the rotating platform recorded by the controller and triggering the laser radar to scan a preset space to obtain point cloud data when the rotating platform rotates; wherein a marker is placed in the preset space; the point cloud data includes: scanning the preset space by the laser radar to obtain a distance value and a calibration angle of laser emitted by scanning the preset space by the laser radar; selecting target data with the distance value equal to a calibration distance from the point cloud data, and determining a target angle recorded when the target data is generated from the first rotation angle; wherein, the calibration distance is as follows: a distance between the marker and the lidar; and determining the precision of the calibration angle of the laser radar according to the calibration angle contained in the target data and the target angle.
In some embodiments, the verification device is specifically configured to, if one piece of target data corresponds to a plurality of target angles, obtain, according to the plurality of target angles, a second rotation angle representing the rotation angle of the rotating platform when the laser radar generates the target data; and determining the calibration angle precision of the laser radar according to the calibration angle and the second rotation angle contained in the target data.
In some embodiments, the verification device further specifically determines, from the plurality of target angles, a first target angle and a last target angle at which the lidar generates the target data based on the nth laser scanning the marker; wherein n is any positive integer; and determining a second rotation angle of the rotating platform when the marker is scanned by the nth laser beam according to the mean value of the first target angle and the last target angle.
In some embodiments, the verification device is further specifically configured to determine an xth calibration angle difference according to the target data, where the xth calibration angle difference is: a difference between a calibration angle included in the target data of the x-th beam of the laser and a calibration angle included in the target data of the y-th beam of the laser; the x and the y are both positive integers, and the x is not equal to the y; determining an x-th rotation angle difference according to the target angle, wherein the x-th rotation angle difference is as follows: a difference between a second rotation angle corresponding to the target data of the x-th beam of laser light and the second rotation angle corresponding to the target data of the y-th beam of laser light; and obtaining the normalized angle difference of the x-th laser beam according to the difference between the x-th rotation angle difference and the x-th calibration angle difference.
In some embodiments, the verification device is further configured to determine the normalized angle difference with the largest absolute value from the normalized angle differences of the plurality of laser beams; and/or determining a variance value of the normalized angle differences for a plurality of the lasers.
In some embodiments, the calibration angles include: azimuth and/or elevation of the lidar.
In one embodiment, the accuracy requirement of the angle of rotation of the rotating platform is at least an order of magnitude lower than the accuracy requirement of the calibration angle of the lidar.
It should be understood by those skilled in the art that the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (16)
1. A method for verifying the precision of a calibration angle of a laser radar is characterized by comprising the following steps:
driving a rotating platform with a laser radar to rotate and recording a first rotating angle of the rotating platform;
triggering the laser radar to scan a preset space when the rotating platform rotates and generating point cloud data according to a scanning result; the point cloud data includes: the laser radar scans the preset space to obtain a distance value and a calibration angle obtained by inquiring a configuration file according to the time sequence of the emitted laser;
selecting target data with the distance value equal to a calibration distance from the point cloud data, and determining a target angle recorded when the target data is generated from the first rotation angle; wherein a marker is placed in the preset space; the calibration distance is as follows: a distance between the marker and the lidar;
and determining the precision of the calibration angle of the laser radar according to the calibration angle contained in the target data and the target angle.
2. The method according to claim 1, wherein the determining the accuracy of the calibration angle of the lidar according to the calibration angle included in the target data and the target angle comprises:
if one target data corresponds to a plurality of target angles, obtaining a second rotation angle representing the rotation angle of the rotating platform when the laser radar generates the target data according to the plurality of target angles;
and determining the calibration angle precision of the laser radar according to the calibration angle and the second rotation angle contained in the target data.
3. The method of claim 2, wherein if the target data corresponds to a plurality of target angles, obtaining a second rotation angle representing the rotation angle of the rotating platform when the lidar generates the target data according to the plurality of target angles comprises:
determining a first target angle and a last target angle when the laser radar generates the target data based on the nth laser beam to scan the marker from a plurality of target angles; wherein n is any positive integer;
and determining a second rotation angle of the rotating platform when the n-th laser scans the marker according to the mean value of the first target angle and the last target angle.
4. The method according to any one of claims 1 to 3, wherein the determining the accuracy of the calibration angle of the lidar according to the calibration angle included in the target data and the target angle comprises:
determining an x-th calibration angle difference according to the target data, wherein the x-th calibration angle difference is as follows: a difference between a calibration angle included in the target data of the x-th beam of the laser and a calibration angle included in the target data of the y-th beam of the laser; both x and y are positive integers, and x is not equal to y;
determining an x-th rotation angle difference according to the target angle, wherein the x-th rotation angle difference is as follows: a difference between a second rotation angle corresponding to the target data of the x-th beam of laser light and the second rotation angle corresponding to the target data of the y-th beam of laser light;
and obtaining the normalized angle difference of the x-th laser beam according to the difference between the x-th rotation angle difference and the x-th calibration angle difference.
5. The method according to claim 4, wherein the determining the accuracy of the calibration angle of the lidar according to the calibration angle included in the target data and the target angle further comprises:
determining the normalized angle difference with the maximum absolute value according to the normalized angle differences of the multiple beams of laser light;
and/or the presence of a gas in the gas,
determining a variance value of the normalized angle differences for a plurality of the lasers.
6. A method according to any one of claims 1 to 3, wherein said calibration angles comprise: azimuth and/or elevation of the lidar.
7. The method of claim 6,
when the calibration angle is the azimuth angle, the laser radar is placed on the rotating platform in a first posture; when the calibration angle is the pitch angle, the laser radar is attached to the rotating platform in a second posture; and switching the laser radar from the first posture to a second posture, and rotating by 90 degrees by taking the center of the laser radar as a rotation center.
8. The utility model provides a precision verification device of calibration angle of laser radar which characterized in that includes:
the driving module is used for driving the rotating platform provided with the laser radar to rotate and recording a first rotating angle of the rotating platform;
the scanning module is used for triggering the laser radar to scan a preset space when the rotating platform rotates and generating point cloud data according to a scanning result; the point cloud data includes: the laser radar scans the preset space to obtain a distance value and a calibration angle obtained by inquiring a configuration file according to the time sequence of the emitted laser;
the first determining module is used for selecting target data with the distance value equal to a calibration distance from the point cloud data and determining a target angle recorded when the target data are generated from the first rotating angle; wherein a marker is placed in the preset space; the calibration distance is as follows: a distance between the marker and the lidar;
and the second determining module is used for determining the precision of the calibration angle of the laser radar according to the calibration angle contained in the target data and the target angle.
9. The apparatus of claim 8, wherein the second determining module is specifically configured to, if one of the target data corresponds to a plurality of target angles, obtain, according to the plurality of target angles, a second rotation angle representing a rotation angle of the rotating platform when the lidar generates the target data; and determining the calibration angle precision of the laser radar according to the calibration angle and the second rotation angle contained in the target data.
10. The apparatus according to claim 9, wherein the second determining module is specifically configured to determine, from a plurality of target angles, a first target angle and a last target angle of the target data generated by the lidar based on the nth laser scanning the marker; wherein n is any positive integer; and determining a second rotation angle of the rotating platform when the marker is scanned by the nth laser beam according to the mean value of the first target angle and the last target angle.
11. The apparatus according to any one of claims 8 to 10, wherein the second determining module is specifically configured to determine an xth calibration angle difference according to the target data, where the xth calibration angle difference is: a difference between a calibration angle included in the target data of the x-th beam of the laser and a calibration angle included in the target data of the y-th beam of the laser; the x and the y are both positive integers, and the x is not equal to the y; determining an x-th rotation angle difference according to the target angle, wherein the x-th rotation angle difference is as follows: a difference between a second rotation angle corresponding to the target data of the x-th beam of laser light and the second rotation angle corresponding to the target data of the y-th beam of laser light; and obtaining the normalized angle difference of the x-th laser beam according to the difference between the x-th rotation angle difference and the x-th calibration angle difference.
12. The apparatus according to claim 11, wherein the second determining module is configured to determine the normalized angle difference with the largest absolute value from the normalized angle differences of the plurality of laser beams; and/or determining a variance value of the normalized angle differences for a plurality of the lasers.
13. The apparatus according to any one of claims 8 to 10, wherein the calibration angle comprises: azimuth and/or elevation of the lidar.
14. The apparatus of claim 13,
when the calibration angle is the azimuth angle, the laser radar is arranged on the rotating platform in a first posture; when the calibration angle is the pitch angle, the laser radar is attached to the rotating platform in a second posture; and switching the laser radar from the first posture to a second posture, and rotating by 90 degrees by taking the center of the laser radar as a rotation center.
15. The utility model provides a precision verification equipment of calibration angle of laser radar which characterized in that includes:
a memory storing computer-executable instructions;
a processor coupled to the memory for implementing the method of any of claims 1 to 7 by executing the computer-executable instructions.
16. A computer storage medium having stored thereon computer-executable instructions; the computer executable instructions, when executed by a processor, are capable of implementing the method of any one of claims 1 to 7.
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| PCT/CN2022/072770 WO2022193828A1 (en) | 2021-03-17 | 2022-01-19 | Method, apparatus, and device for verifying precision of calibration angle, and storage medium |
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| CN115542296B (en) * | 2021-06-29 | 2024-03-08 | 苏州一径科技有限公司 | Dirty spot and dirty detection method of laser radar and electronic device |
| CN113567964B (en) * | 2021-06-29 | 2023-07-25 | 苏州一径科技有限公司 | Laser radar automatic test method, device and system |
| CN113433534B (en) * | 2021-08-26 | 2021-12-31 | 盎锐(常州)信息科技有限公司 | Precision detection method and system and laser radar |
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