CN113109791B - Vehicle-mounted laser radar calibration result evaluation system and method - Google Patents
Vehicle-mounted laser radar calibration result evaluation system and method Download PDFInfo
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- CN113109791B CN113109791B CN202110275495.9A CN202110275495A CN113109791B CN 113109791 B CN113109791 B CN 113109791B CN 202110275495 A CN202110275495 A CN 202110275495A CN 113109791 B CN113109791 B CN 113109791B
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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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- 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
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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Abstract
The invention provides a system and a method for evaluating a calibration result of a vehicle-mounted laser radar, wherein the method comprises the following steps: first determining means for constructing a ground coordinate system; the marker is arranged at a designated position set in a ground coordinate system; collecting a laser radar of a three-dimensional point cloud signal of a marker; a second determining device for determining the transformation relation between the ground coordinate system and the vehicle-carrying coordinate system; the signal acquisition device acquires an environmental three-dimensional point cloud signal containing a marker; acquiring a laser radar calibration result for evaluation; the identification device identifies the position of the marker in the laser radar three-dimensional point cloud; the computing device is used for obtaining the coordinates of the marker in a ground coordinate system; and the evaluation device compares the set position coordinates of the marker in the ground coordinate system with the errors of the coordinates of the marker identified in the laser radar three-dimensional point cloud in the ground coordinate system, and evaluates the calibration result of the vehicle-mounted laser radar. The method greatly reduces the equipment preparation time and cost required by the evaluation of the vehicle-mounted laser radar calibration result.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a system and a method for evaluating a calibration result of a vehicle-mounted laser radar.
Background
With the continuous improvement of the performance of the laser radar and the gradual reduction of the cost, the three-dimensional point cloud of the laser radar becomes an important information carrier in the field of vehicle environment perception and positioning. The calibration of the vehicle-mounted laser radar is an important preparation work for ensuring that an object sensed by the laser radar can truly reflect the position of the object in the environment, so that the positioning precision and the vehicle traveling safety are ensured. The traditional evaluation of the laser radar calibration result needs to be realized by completely calibrating with at least one order of magnitude higher precision once, but the calibration method which can be used as the evaluation standard is usually only limited to use a special calibration chamber, and the construction time and the cost are high, so that the method is difficult to be widely developed. Therefore, in the actual use of the vehicle-mounted laser radar, the accuracy is often not evaluated and confirmed after the laser radar is calibrated, and a large potential safety hazard exists.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a vehicle-mounted laser radar calibration result evaluation system and method, which can greatly reduce the preparation time and cost of evaluation equipment, thereby being capable of widely popularizing the evaluation of the laser radar calibration result and being particularly suitable for the links of intelligent vehicle-mounted sensor installation, system debugging, maintenance, troubleshooting and the like.
In a first aspect of the present invention, a system for evaluating calibration results of a vehicle-mounted laser radar is provided, including:
the first determining device is used for constructing a ground coordinate system;
the marker is arranged at a designated position set in a ground coordinate system;
the laser radar is arranged on the vehicle carrier and used for acquiring a three-dimensional point cloud signal of the marker;
the second determining device is used for determining the transformation relation between the ground coordinate system and the vehicle-carrying coordinate system;
the signal acquisition device is used for acquiring an environment three-dimensional point cloud signal containing a set marker; the method comprises the steps of obtaining a laser radar calibration result for evaluation;
the identification device is used for identifying the position of the marker in the three-dimensional point cloud of the laser radar according to the three-dimensional point cloud signal of the marker acquired by the laser radar to obtain the coordinate of the marker;
the calculating device is used for converting the marker coordinate obtained by the identifying device into a vehicle-carrying coordinate system according to the laser radar calibration result obtained by the signal obtaining device, and then obtaining the coordinate of the marker in the ground coordinate system according to the transformation relation between the ground coordinate system and the vehicle-carrying coordinate system determined by the second determining device;
and the evaluation device is used for comparing the set position coordinates of the marker in the ground coordinate system with the errors of the coordinates of the marker identified in the laser radar three-dimensional point cloud in the ground coordinate system, and evaluating the calibration result of the vehicle-mounted laser radar.
Preferably, the vehicle-mounted lidar calibration result evaluation system comprises:
and the calibration result error prompting device is used for analyzing the errors of the plurality of marker setting positions after obtaining a plurality of evaluation results when a plurality of marker setting positions are arranged, and respectively prompting the accuracy of each spatial degree of freedom in the calibration result.
Preferably, the first determination means comprises:
the two first plummet hammers are respectively arranged on the head-tail central line of the vehicle carrier and are used for determining the direction of the head of the vehicle carrier and providing guidance for radial guide light beams;
set up in carry the laser level at car rear portion, the laser level is used for producing radial guiding light beam and normal direction guiding light beam, makes radial guiding light beam passes two first plummet, through radial guiding light beam with the normal direction guiding light beam founds the ground coordinate system.
Preferably, the second determination means includes:
the laser range finder is arranged on the normal guide light beam and is used for measuring the distance from a rear shaft of the vehicle carrier to the normal guide light beam;
the reflector is vertically arranged on a rear axle of the vehicle, and is used for providing a reflecting area in the direction vertical to the rear axle of the vehicle.
Preferably, the vehicle-mounted lidar calibration result evaluation system comprises: a marker setting device, the marker setting device comprising:
a ground mark provided on the ground;
the ground mark determining device is used for determining two-dimensional coordinates of the ground mark in a ground coordinate system according to the ground coordinate system;
the height determining device is used for determining the set height of the mark in the vertical direction of the ground mark;
the marker support is arranged on the ground mark and used for supporting and fixing the marker;
the marker support comprises:
a tripod for supporting the marker and fixing the marker to a designated position set by a ground coordinate system by adjusting the position and height of the tripod;
a second plumb disposed at a center position of the tripod, the second plumb for adjusting the tripod position until the center overlaps the ground mark.
Preferably, the lidar is a non-rescanning lidar;
the horizontal field angle of the non-rescanning lidar is less than 180 degrees.
Preferably, the marker is a corner reflector.
The invention provides a method for evaluating the calibration result of a vehicle-mounted laser radar, which comprises the following steps: the vehicle-mounted laser radar calibration result evaluation system is adopted for carrying out the calibration;
the method comprises the following steps:
s1: analyzing the environmental terrain, determining a flat area, and parking the vehicle carrier in the flat area;
s2: fixing first plumbs on horizontal central lines at the head end and the tail end of the vehicle respectively, and enabling the two first plumbs to naturally droop to be close to the ground and then to keep static;
s3: arranging a laser level gauge behind the vehicle, adjusting the position of the laser level gauge until one radial guide light beam emitted by the laser level gauge passes through the plumbs at the head and tail ends of the vehicle, meanwhile, enabling a corresponding normal guide light beam to be parallel to a rear shaft of the vehicle, and constructing a ground coordinate system according to the radial guide light beam and the normal guide light beam;
s4: arranging a laser range finder on the normal guide light beam, vertically arranging a reflector at the position of the rear shaft of the vehicle, and measuring the horizontal distance from the normal guide light beam to the rear shaft of the vehicle;
s5: calculating a transformation relation between the ground coordinate system and the vehicle-carrying coordinate system according to the horizontal distance measured in the step S4;
s6: determining the placement position and height of at least one marker according to the ground coordinate system;
s7: placing a marker support on the placement position determined in the step S6, and adjusting the position of the marker support to enable a second plumb at the center of the marker support to be overlapped with the placement position of the marker;
s8: adjusting the height of the marker to be consistent with a set height;
s9: receiving a calibration result between the laser radar and the vehicle, and obtaining a spatial position and orientation transformation relation from the laser radar to a ground coordinate system according to the calibration result and the transformation relation from the ground coordinate system to a vehicle coordinate system;
s10: receiving a laser radar three-dimensional point cloud signal of the vehicle, and identifying the marker in the three-dimensional point cloud signal to obtain the three-dimensional coordinate of the marker in the laser radar coordinate system;
s11: calculating the three-dimensional coordinates of the marker in the ground coordinate system, which are sensed by the laser radar, according to the spatial pose transformation relation from the laser radar to the ground coordinate system and the three-dimensional coordinates of the marker in the laser radar coordinate system;
s12: and S11, comparing the three-dimensional coordinates of the marker perceived by the laser radar in the ground coordinate system with the determined placement position and height of the marker, and obtaining the evaluation of the calibration result of the vehicle-mounted laser radar.
Preferably, when the marker mounting position is provided in plurality, after S12, the method further includes:
s13: and analyzing the evaluation of the plurality of calibration results, and prompting the errors of the calibration results in respective degrees of freedom.
Preferably, in S10, a laser radar three-dimensional point cloud signal of the vehicle is received, and the marker is identified in the three-dimensional point cloud signal, wherein a plane fitting method is used to identify the marker in the three-dimensional point cloud signal.
Compared with the prior art, the invention has at least one of the following beneficial effects:
according to the system, the time consumption and the cost of the evaluation of the calibration result of the vehicle-mounted laser radar are obviously reduced by arranging the laser level gauge and the plumb hammer to replace the traditional method based on the construction of the special calibration chamber, the problem of high time and cost caused by the fact that the special calibration chamber needs to be constructed for one-time complete high-precision calibration in the traditional evaluation of the calibration result of the laser radar is solved, and the aim of conveniently evaluating the calibration result of the vehicle-mounted laser radar in the steps of ensuring the installation of the vehicle-mounted sensor, debugging the system, maintaining and troubleshooting and the like is fulfilled.
Drawings
Embodiments of the invention are further described below with reference to the accompanying drawings:
fig. 1 is a schematic structural diagram of a vehicle-mounted lidar calibration result evaluation system according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a working process of a vehicle-mounted laser radar calibration result evaluation system according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for evaluating calibration results of a vehicle-mounted laser radar according to an embodiment of the present invention;
the numbers in the figures are indicated as: 11-laser radar, 12-vehicle loading, 13-first plumb bob, 14-laser level gauge, 15-radial guide light beam, 16-normal guide light beam, 17-reflector plate, 18-laser range finder, 19-ground mark, 20-marker support and 21-marker; 201-a tripod; 202-a second plumb; 31-first determination means, 32-second determination means, 33-marker setting means, 34-signal acquisition means, 35-recognition means, 36-calculation means, 37-evaluation means.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
Fig. 1 is a schematic structural diagram of a vehicle-mounted lidar calibration result evaluation system according to an embodiment of the present invention, where the diagram includes: the system comprises a marker 21, a laser radar 11, a first determination device 31, a second determination device 32, a signal acquisition device 34, a recognition device 35, a calculation device 36 and an evaluation device 37, the working flows of which are shown with reference to fig. 2.
The marker 21 is set at a predetermined position set in the ground coordinate system. As a preferred mode, the marker 21 employs a corner reflector. The method of three-dimensional point cloud plane fitting can be adopted by arranging the corner reflector, so that the identification precision of the laser radar 11 on the marker 21 is improved.
The first determination means 31 are used to construct the ground coordinate system.
The laser radar 11 is fixed on the vehicle 12 and used for collecting three-dimensional point cloud signals of the markers 21. In a preferred embodiment, lidar 11 may be a horizontally rotating multiline lidar 11 or a non-repetitively scanning lidar 11. When laser radar 11 employs non-rescanning laser radar 11, the horizontal field of view of laser radar 11 is less than 180 °.
The second determining device 32 is used for determining the transformation relation between the ground coordinate system and the vehicle-carrying coordinate system.
The signal acquisition device 34 is used for acquiring an environmental three-dimensional point cloud signal including the set marker 21; and for obtaining the lidar 11 calibration results for evaluation.
The identification device 35 is configured to identify the position of the marker 21 in the three-dimensional point cloud of the laser radar 11 according to the three-dimensional point cloud signal of the marker 21 acquired by the laser radar 11, that is, identify the coordinates of the marker.
The calculating device 36 is configured to convert the coordinates of the marker identified by the identifying device 35 into a vehicle-carrying coordinate system according to the lidar calibration result obtained by the signal obtaining device 34, and then obtain the coordinates of the marker 21 in the ground coordinate system according to the transformation relation between the ground coordinate system and the vehicle-carrying coordinate system determined by the second determining device 32.
The evaluation device 37 is configured to compare the set position coordinates of the marker 21 in the ground coordinate system with the errors of the coordinates of the marker 21 in the ground coordinate system identified in the lidar three-dimensional point cloud, and evaluate the calibration result of the vehicle-mounted lidar.
In some other preferred embodiments, the first determining means 31 includes: the first plummet 13 that the year car 12 head and the tail axis was fixed respectively, and two first plummet 13 are fixed in the head central line of year car 12 respectively, make two first plummet 13 hang down naturally and keep static after being close to ground. The two first plumbs 3 are used for determining the direction of the head of the vehicle 12 and providing guidance for the radial guiding light beam 15. The laser level 14 is used for generating a radial directed beam 15 and a normal directed beam 16, the laser level 14 being arranged at the rear of the cart 12 and such that the radial directed beam 15 passes through the two first plumbs 13.
In other preferred embodiments, the second determining means 32 comprises: the vehicle-mounted device comprises a reflector 17 and a laser range finder 18, wherein the reflector 17 is vertically arranged on a rear axle of the vehicle 12, and the reflector 17 is used for providing a reflecting area in the vertical direction of the rear axle of the vehicle 12. The laser range finder 18 is arranged on the normal guiding light beam 16, and the laser range finder 18 is used for measuring the distance from the rear shaft of the vehicle carrier 12 to the normal guiding light beam 16. The normally directed beam 16 is used to set a laser rangefinder 18.
In other preferred embodiments, the vehicle-mounted lidar calibration result evaluation system is further provided with a marker setting device 33. The marker setting device 33 includes: the ground mark determining device is used for determining two-dimensional coordinates of the ground mark 19 in a ground coordinate system according to the ground coordinate system constructed by the radial guide light beam 15 and the normal guide light beam 16, so that the position of the ground mark 19 is determined; the height determining device is used for determining the set height of the marker 21 in the vertical direction of the ground mark 19; the marker fixing device is used to fix the marker 21, and the height-adjustable marker support 20 may be used. The marker support 20 may include a tripod 201 and a second plumb 202, wherein the tripod 201 is used to support the marker 21; a second plumb 202 is provided at the center of the tripod 201, the second plumb 202 being used to determine the horizontal position of the marker 21. In a particular installation, tripod 201 is fixed to the ground and such that second plumb 202 overlaps ground mark 19; the marker 21 is mounted on the marker support 20, and the marker 21 is fixed to a designated position set by the ground coordinate system by adjusting the position and height of the tripod 201. The use of a tripod 201 provides height adjustment capability, which is responsible for fixing the position of the marker 21 in three-dimensional space.
In some other preferred embodiments, the signal acquisition device 34 includes: the system comprises a laser radar three-dimensional point cloud obtaining device and a laser radar calibration result obtaining device, wherein the laser radar three-dimensional point cloud obtaining device is used for obtaining an environment three-dimensional point cloud signal containing a set marker 21; the laser radar calibration result acquisition device is used for acquiring a laser radar calibration result for evaluation.
In other preferred embodiments, the vehicle-mounted lidar calibration result evaluation system is further provided with a calibration result error prompting device, which is used for analyzing errors of the plurality of marker 21 setting positions after multiple times of evaluation by the evaluation system when the marker 21 setting positions include a plurality of positions, and respectively prompting the accuracy of each spatial degree of freedom in the calibration result.
According to the vehicle-mounted laser radar calibration result evaluation system, by using the laser level gauge 14 and a small number of markers 21, the time consumption and the cost of vehicle-mounted laser radar calibration result evaluation are remarkably reduced, the problem of high time and cost caused by the fact that a special calibration chamber needs to be built for complete high-precision calibration once in the conventional laser radar calibration result evaluation is solved, and the purpose of conveniently evaluating vehicle-mounted laser radar calibration results in the links of vehicle-mounted sensor installation, system debugging, maintenance, troubleshooting and the like is further achieved.
Referring to fig. 3, in another embodiment, a method for evaluating a calibration result of a vehicle-mounted laser radar is provided, where the method includes performing the system described in the above embodiment, and specifically includes the following steps:
s1: analyzing the environment terrain, determining a flat area, and parking the vehicle carrier in the area.
S2: first plummets are respectively fixed on horizontal central lines at the head end and the tail end of the vehicle carrier, so that the two first plummets naturally droop to be close to the ground and then keep static.
S3: a laser level is placed behind a vehicle, the position of the laser level is adjusted until a radial guide light beam penetrates through plumbs at the head end and the tail end of the vehicle, a corresponding normal guide light beam is parallel to a rear shaft of the vehicle, and a ground coordinate system is constructed according to the radial guide light beam and the normal guide light beam.
S4: and a laser range finder is arranged on the normal guiding light beam, a reflector is vertically arranged at the rear shaft of the vehicle, and the laser range finder and the reflector are used for measuring the horizontal distance from the normal guiding light beam to the rear shaft of the vehicle.
S5: and calculating the transformation relation from the ground coordinate system to the vehicle-carrying coordinate system according to the horizontal distance from the normal guiding light beam to the rear axle of the vehicle-carrying.
S6: and determining the placement position and the height of at least one marker according to the ground coordinate system.
S7: a marker support is placed on at least one marker placement position, and the marker support position is adjusted so that the plumb at the center thereof overlaps the marker placement position.
S8: the height of the marker is adjusted to be consistent with the set height.
S9: and receiving a calibration result between the laser radar and the vehicle, and obtaining a spatial pose transformation relation from the laser radar to a ground coordinate system according to the calibration result and the transformation relation from the ground coordinate system to a vehicle coordinate system.
S10: and receiving the vehicle-mounted laser radar three-dimensional point cloud signal, and identifying the marker in the three-dimensional point cloud signal to obtain the three-dimensional coordinate of the marker in the laser radar coordinate system.
S11: and calculating the three-dimensional coordinates of the markers sensed by the laser radar in the ground coordinate system according to the space pose transformation relation from the laser radar to the ground coordinate system and the three-dimensional coordinates of the markers in the laser radar coordinate system.
S12: and comparing the calculated three-dimensional coordinates of the marker sensed by the laser radar in the ground coordinate system with the determined placement position and height of the marker to obtain the evaluation of the calibration result of the vehicle-mounted laser radar.
In a preferred embodiment, after S12, the method further includes: s13: and analyzing the evaluation of the plurality of calibration results, and prompting the errors of the calibration results in the respective degrees of freedom.
In the above step, when the marker in S6 is a corner reflector, the method for identifying the marker in the three-dimensional point cloud signal in S10 is a plane fitting method. By using the plane fitting method, the identification precision error caused by insufficient density of the laser radar three-dimensional point cloud can be reduced, and the marker identification effect with higher precision can be obtained.
The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and not to limit the invention. Any modifications and variations within the scope of the description, which may occur to those skilled in the art, are intended to be within the scope of the invention.
Claims (9)
1. A vehicle-mounted laser radar calibration result evaluation system is characterized by comprising:
the first determining device is used for constructing a ground coordinate system;
the marker is arranged at a designated position set in a ground coordinate system; the marker is a corner reflector;
the laser radar is arranged on the vehicle carrier and used for acquiring a three-dimensional point cloud signal of the marker;
the second determining device is used for determining the transformation relation between the ground coordinate system and the vehicle-carrying coordinate system;
the signal acquisition device is used for acquiring an environment three-dimensional point cloud signal containing a set marker; the method comprises the steps of obtaining a laser radar calibration result for evaluation;
the identification device is used for identifying the position of the marker in the three-dimensional point cloud of the laser radar according to the three-dimensional point cloud signal of the marker acquired by the laser radar to obtain the coordinate of the marker;
the calculating device is used for converting the marker coordinate obtained by the identifying device into a vehicle-carrying coordinate system according to the laser radar calibration result obtained by the signal obtaining device, and then obtaining the coordinate of the marker in the ground coordinate system according to the transformation relation between the ground coordinate system determined by the second determining device and the vehicle-carrying coordinate system;
and the evaluation device is used for comparing the set position coordinates of the marker in the ground coordinate system with the errors of the coordinates of the marker identified in the laser radar three-dimensional point cloud in the ground coordinate system, and evaluating the calibration result of the vehicle-mounted laser radar.
2. The vehicle-mounted lidar calibration result evaluation system according to claim 1, further comprising:
and the calibration result error prompting device is used for analyzing the errors of the plurality of marker setting positions after obtaining a plurality of evaluation results when a plurality of marker setting positions are arranged, and respectively prompting the accuracy of each spatial degree of freedom in the calibration result.
3. The system for evaluating calibration results of a vehicle-mounted lidar according to claim 1, wherein the first determining means comprises:
the two first plummet hammers are respectively arranged on the head-tail central line of the vehicle carrier and are used for determining the direction of the head of the vehicle carrier and providing guidance for radial guide light beams;
the laser level gauge is arranged at the rear part of the vehicle and used for generating radial guide beams and normal guide beams, the radial guide beams penetrate through the two first plummet, and a ground coordinate system is constructed through the radial guide beams and the normal guide beams.
4. The vehicle-mounted lidar calibration result evaluation system according to claim 3, wherein the second determination means comprises:
the laser range finder is arranged on the normal guide light beam and is used for measuring the distance from a rear shaft of the vehicle carrier to the normal guide light beam;
the reflector is vertically arranged on a rear axle of the vehicle, and is used for providing a reflecting area in the direction vertical to the rear axle of the vehicle.
5. The system for evaluating calibration results of a vehicle-mounted lidar according to claim 1, further comprising a marker setting device, the marker setting device comprising:
a ground mark disposed on the ground;
the ground mark determining device is used for determining two-dimensional coordinates of the ground mark in a ground coordinate system according to the ground coordinate system;
the height determining device is used for determining the set height of the mark in the vertical direction of the ground mark;
the marker support is arranged on the ground mark and used for supporting and fixing the marker;
the marker support comprises:
a tripod for supporting the marker and fixing the marker to a designated position set by a ground coordinate system by adjusting the position and height of the tripod;
a second plumb disposed at a center position of the tripod, the second plumb for adjusting the tripod position until the center overlaps the ground mark.
6. The vehicle-mounted lidar calibration result evaluation system according to any of claims 1 to 5,
the laser radar is a non-repetitive scanning type laser radar;
the horizontal field angle of the non-rescanning lidar is less than 180 degrees.
7. A method for evaluating a calibration result of a vehicle-mounted laser radar is characterized by comprising the following steps: the method is carried out by adopting the vehicle-mounted laser radar calibration result evaluation system of any one of claims 1 to 6;
the method comprises the following steps:
s1: analyzing the environmental terrain, determining a flat area, and parking a vehicle in the flat area;
s2: respectively fixing first plumbs on horizontal central lines at the head end and the tail end of the vehicle carrier, and enabling the two first plumbs to naturally droop to be close to the ground and then keep static;
s3: arranging a laser level gauge behind the vehicle, adjusting the position of the laser level gauge until a radial guide light beam emitted by the laser level gauge passes through the plumbs at the head and tail ends of the vehicle, meanwhile, a corresponding normal guide light beam is parallel to a rear shaft of the vehicle, and constructing a ground coordinate system according to the radial guide light beam and the normal guide light beam;
s4: arranging a laser range finder on the normal guide light beam, vertically arranging a reflector at the position of the rear shaft of the vehicle, and measuring the horizontal distance from the normal guide light beam to the rear shaft of the vehicle;
s5: calculating a transformation relation between the ground coordinate system and the vehicle-carrying coordinate system according to the horizontal distance measured in the step S4;
s6: determining the placement position and height of at least one marker according to the ground coordinate system;
s7: placing a marker support on the placement position determined in the step S6, and adjusting the position of the marker support to enable a second plumb at the center of the marker support to be overlapped with the placement position of the marker;
s8: adjusting the height of the marker to be consistent with a set height;
s9: receiving a calibration result between the laser radar and the vehicle, and obtaining a space pose transformation relation from the laser radar to a ground coordinate system according to the calibration result and the transformation relation from the ground coordinate system to a vehicle coordinate system;
s10: receiving a laser radar three-dimensional point cloud signal of the vehicle, and identifying the marker in the three-dimensional point cloud signal to obtain the three-dimensional coordinate of the marker in the laser radar coordinate system;
s11: calculating the three-dimensional coordinates of the marker in the ground coordinate system, which are sensed by the laser radar, according to the spatial pose transformation relation from the laser radar to the ground coordinate system and the three-dimensional coordinates of the marker in the laser radar coordinate system;
s12: and S11, comparing the three-dimensional coordinates of the marker perceived by the laser radar in the ground coordinate system with the determined placement position and height of the marker, and obtaining the evaluation of the calibration result of the vehicle-mounted laser radar.
8. The method for evaluating calibration results of a vehicle-mounted lidar according to claim 7, wherein when the plurality of marker placement positions are provided, after S12, the method further comprises:
s13: and analyzing the evaluation of the plurality of calibration results, and prompting the errors of the calibration results in the respective degrees of freedom.
9. The method for evaluating the calibration result of the vehicle-mounted lidar according to claim 7, wherein S10 is configured to receive a lidar three-dimensional point cloud signal of the vehicle and identify the marker in the three-dimensional point cloud signal, wherein the marker is identified in the three-dimensional point cloud signal by using a plane fitting method.
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| CN114185026A (en) * | 2021-11-09 | 2022-03-15 | 三一专用汽车有限责任公司 | External parameter calibration method and device for vehicle-mounted multi-laser radar and electronic equipment |
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