CN113109791B - A system and method for evaluating calibration results of vehicle-mounted lidar - Google Patents

Abstract

The present invention proposes a vehicle-mounted lidar calibration result evaluation system and method, including: a first determining device for constructing a ground coordinate system; a marker set at a designated position set in the ground coordinate system; and a three-dimensional image of the marker Lidar for point cloud signals; a second determination device for determining the transformation relationship between the ground coordinate system and the vehicle-mounted coordinate system; the signal acquisition device obtains the three-dimensional point cloud signals of the environment including markers; and obtains the laser radar calibration results for evaluation The recognition device identifies the position of the marker in the three-dimensional point cloud of the laser radar; the computing device is used to obtain the coordinates of the marker in the ground coordinate system; the evaluation device compares the set position coordinates of the marker in the ground coordinate system with the three-dimensional point cloud of the laser radar The error of the coordinates of the landmarks identified in the cloud in the ground coordinate system is used to evaluate the calibration results of the vehicle-mounted lidar. The invention greatly reduces the equipment preparation time and cost required for evaluating the calibration results of the vehicle-mounted laser radar.

Description

A system and method for evaluating calibration results of vehicle-mounted lidar

technical field

The invention relates to the field of communication technology, in particular to a system and method for evaluating a vehicle-mounted laser radar calibration result.

Background technique

With the continuous improvement of lidar performance and the gradual reduction of cost, the 3D point cloud of lidar has become an important information carrier in the field of vehicle environment perception and positioning. The calibration of the vehicle lidar is an important preparation to ensure that the object perceived by the lidar can truly reflect the position of the object in the environment, so as to ensure the positioning accuracy and the safety of the vehicle. The traditional evaluation of lidar calibration results requires a complete calibration with an accuracy of at least one order of magnitude higher. However, such calibration methods that can be used as evaluation standards are usually limited to the use of dedicated calibration rooms, and their construction time and cost are high. , making it difficult to implement widely. Therefore, in the actual use of on-board lidar, the accuracy is often not evaluated and confirmed after the lidar is calibrated, posing a major safety hazard.

Contents of the invention

In view of the problems existing in the above-mentioned prior art, the present invention proposes a vehicle-mounted laser radar calibration result evaluation system and method, which greatly reduces the preparation time and cost of evaluation equipment, thus, can widely promote the evaluation of laser radar calibration results, and is especially suitable for It is used in the installation of on-board sensors, system debugging, maintenance and troubleshooting of intelligent vehicles.

In the first aspect of the present invention, a vehicle-mounted laser radar calibration result evaluation system is provided, including:

a first determining device, configured to construct a ground coordinate system;

A marker, the marker is set at a specified position set in the ground coordinate system;

A laser radar, the laser radar is arranged on the vehicle, and is used to collect the three-dimensional point cloud signal of the marker;

The second determination device is used to determine the transformation relationship between the ground coordinate system and the vehicle coordinate system;

The signal acquisition device is used to acquire the three-dimensional point cloud signal of the environment including the set markers; and is used to acquire the laser radar calibration result for evaluation;

The identification device is used to identify 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 collected by the laser radar, and obtain the coordinates of the marker;

A computing device, for converting the coordinates of the markers obtained by the identification device into the vehicle coordinate system according to the laser radar calibration result obtained by the signal acquisition device, and then according to the ground coordinate system determined by the second determination device and the vehicle coordinate system. Vehicle coordinate system transformation relationship, to obtain the coordinates of the marker in the ground coordinate system;

The evaluation device is used to compare the error between the set position coordinates of the markers in the ground coordinate system and the coordinates of the markers identified in the three-dimensional laser radar point cloud in the ground coordinate system, and evaluate the vehicle laser radar calibration results.

Preferably, the vehicle-mounted lidar calibration result evaluation system includes:

The calibration result error prompting device is used to analyze the errors of the multiple marker setting positions after multiple evaluation results are obtained when there are multiple marker setting positions, and to free space for each space in the calibration result. The accuracy of the degree is prompted separately.

Preferably, the first determining means includes:

Two first plumb bobs, the two first plumb bobs are respectively arranged on the front and rear centerlines of the vehicle, and the two first plumb bobs are used to determine the direction of the front of the vehicle and provide guidance for the radially guided light beam;

A laser level arranged at the rear of the vehicle, the laser level is used to generate a radially guided beam and a normal guided beam, so that the radially guided beam passes through the two first plumb bobs and passes through the The radial guiding beam and the normal guiding beam construct a ground coordinate system.

Preferably, the second determination means includes:

A laser range finder, the laser range finder is arranged on the normal guide beam, and the laser range finder is used to measure the distance from the rear axle of the vehicle to the normal guide beam;

The reflector is vertically arranged on the rear wheel axle of the vehicle, and the reflector is used to provide a reflection area in the vertical direction of the rear axle of the vehicle.

Preferably, the vehicle-mounted laser radar calibration result evaluation system includes: a marker setting device, and the marker setting device includes:

ground markings placed on the ground;

A ground mark determining device, the ground mark determining device is used to determine the two-dimensional coordinates of the ground mark in the ground coordinate system according to the ground coordinate system;

a height determining device, used to determine the set height of the marker in the vertical direction of the ground mark;

a marker bracket arranged on the ground mark, the marker bracket is used to support and fix the marker;

The marker bracket includes:

A tripod for supporting the marker, and by adjusting the position and height of the tripod, the marker can be fixed to the specified position set by the ground coordinate system;

A second plumb bob arranged at the center of the tripod, the second plumb bob is used to adjust the position of the tripod until the center overlaps with the ground mark.

Preferably, the laser radar is a non-repetitive scanning laser radar;

The horizontal field of view of the non-repetitive scanning laser radar is less than 180°.

Preferably, the marker is a corner reflector.

The second aspect of the present invention provides a vehicle-mounted laser radar calibration result evaluation method, including: using the above-mentioned vehicle-mounted laser radar calibration result evaluation system;

Follow the steps below:

S1: Analyze the environmental terrain, determine a flat area, and park the vehicle in the flat area;

S2: fixing the first plumb weights on the horizontal centerlines of the front and rear ends of the vehicle, so that the two first plumb weights naturally hang down until they are close to the ground and remain still;

S3: Install a laser level at the rear of the vehicle, adjust the position of the laser level until a radial guiding beam emitted by it passes through the plumb bobs at the front and rear ends of the vehicle, and at the same time a corresponding normal guiding beam is aligned with the The rear axis of the vehicle is parallel, and a ground coordinate system is constructed according to the radial guiding light beam and the normal guiding light beam;

S4: installing a laser range finder on the normal guiding beam, vertically installing a reflector at the position of the rear axle of the vehicle, and measuring the horizontal distance from the normal guiding beam to the rear axle of the vehicle;

S5: Calculate the transformation relationship between the ground coordinate system and the vehicle coordinate system according to the horizontal distance measured in S4;

S6: Determine the placement position and height of at least one marker according to the ground coordinate system;

S7: placing the marker bracket at the placement position determined in S6, and adjusting the position of the marker bracket so that the second plumb bob at the center of the marker bracket overlaps with the placement position of the marker;

S8: adjusting the height of the marker to make it consistent with the set height;

S9: Receive the calibration result between the lidar and the vehicle, and obtain the spatial position from the laser radar to the ground coordinate system according to the calibration result and the transformation relationship between the ground coordinate system and the vehicle coordinate system Posture transformation relationship;

S10: Receive the 3D point cloud signal of the lidar on the vehicle, identify the marker in the 3D point cloud signal, and obtain the 3D coordinates of the marker in the lidar coordinate system;

S11: According to the space pose transformation relationship from the lidar to the ground coordinate system and the three-dimensional coordinates of the marker in the lidar coordinate system, calculate the location of the marker sensed by the lidar Three-dimensional coordinates in the above-mentioned ground coordinate system;

S12: Comparing the three-dimensional coordinates of the marker in the ground coordinate system sensed by the lidar calculated in S11 with the determined placement position and height of the marker, to obtain an evaluation of the vehicle-mounted lidar calibration result.

Preferably, when the placement position of the marker is set to be multiple, after S12, it also includes:

S13: Analyzing the evaluations of multiple calibration results, and prompting the errors of the calibration results in each degree of freedom.

Preferably, the S10 is to receive the 3D point cloud signal of the lidar on the vehicle, and identify the marker in the 3D point cloud signal, wherein the marker is identified in the 3D point cloud signal by using a plane fitting method .

Compared with the prior art, the present invention has at least one of the following beneficial effects:

The above-mentioned system of the present invention replaces the traditional method based on the construction of a dedicated calibration room by setting a laser level and a plumb weight, so that the time-consuming and cost of the evaluation of the vehicle-mounted laser radar calibration results are significantly reduced, and the traditional evaluation of the laser radar calibration results avoids the need to build a dedicated calibration The high time and cost problems caused by a complete high-precision calibration in the laboratory, and then achieved the purpose of ensuring the convenient evaluation of vehicle-mounted lidar calibration results in the aspects of vehicle sensor installation, system debugging, maintenance and troubleshooting.

Description of drawings

Embodiments of the present invention will be further described below in conjunction with accompanying drawings:

Fig. 1 is a structural schematic diagram of a vehicle-mounted lidar calibration result evaluation system according to an embodiment of the present invention;

Fig. 2 is a schematic diagram of the working process of the vehicle-mounted lidar calibration result evaluation system according to an embodiment of the present invention;

Fig. 3 is a flow chart of a vehicle-mounted lidar calibration result evaluation method according to an embodiment of the present invention;

The labels in the figure are respectively represented as: 11-lidar, 12-vehicle, 13-first plumb weight, 14-laser level, 15-radial guide beam, 16-normal guide beam, 17-reflector, 18- Laser rangefinder, 19-ground mark, 20-marker bracket, 21-marker; 201-tripod; 202-second plumb weight; 31-first determination device, 32-second determination device, 33-marker Setting device, 34-signal acquisition device, 35-recognition device, 36-calculation device, 37-evaluation device.

Detailed ways

The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

Referring to Fig. 1, it is a schematic structural diagram of a vehicle-mounted laser radar calibration result evaluation system according to an embodiment of the present invention, including: markers 21, laser radar 11, a first determination device 31, a second determination device 32, and signal acquisition Device 34 , recognition device 35 , computing device 36 and evaluation device 37 , the workflow of the above components is shown in FIG. 2 .

The marker 21 is set at a designated position set in the ground coordinate system. As a preferred manner, the marker 21 adopts a corner reflector. By arranging the corner reflector, the recognition accuracy of the laser radar 11 for the landmark 21 can be improved by using a three-dimensional point cloud plane fitting method.

The first determining device 31 is used to construct a ground coordinate system.

The laser radar 11 is fixed on the vehicle 12 and is used to collect the three-dimensional point cloud signals of the landmarks 21 . In a preferred embodiment, the laser radar 11 can use a horizontally rotating multi-line laser radar 11 , or a non-repetitive scanning laser radar 11 . When the laser radar 11 adopts a non-repetitive scanning laser radar 11 , the horizontal field of view of the laser radar 11 is less than 180°.

The second determination device 32 is used to determine the transformation relationship between the ground coordinate system and the vehicle coordinate system.

The signal acquisition device 34 is used to acquire the three-dimensional point cloud signal of the environment including the set marker 21 ; and is used to acquire the calibration result of the laser radar 11 for evaluation.

The identification device 35 is used 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 collected by the laser radar 11 , that is, identify the coordinates of the marker.

The calculation device 36 is used to convert the coordinates of the landmarks identified by the identification device 35 into the vehicle-mounted coordinate system according to the laser radar calibration result obtained by the signal acquisition device 34, and then according to the ground coordinate system determined by the second determination device 32 and the vehicle-mounted coordinates The coordinates of the marker 21 in the ground coordinate system are obtained.

The evaluation device 37 is used to compare the error between the set position coordinates of the marker 21 in the ground coordinate system and the coordinates of the marker 21 recognized in the three-dimensional laser radar point cloud in the ground coordinate system, and evaluate the vehicle laser radar calibration results.

In other preferred embodiments, the first determination device 31 includes: the first plumb bobs 13 fixed at the front and rear central axes of the vehicle 12 respectively, and the two first plumb bobs 13 are respectively fixed on the first center line of the vehicle 12, Make the two first plumb bobs 13 hang down naturally to keep still after approaching the ground. The two first plumb bobs 3 are used to determine the direction of the head of the vehicle 12 and provide guidance for the radially guided light beam 15 . The laser level 14 is used to generate a radially guided beam 15 and a normal guided beam 16 , the laser level 14 is arranged at the rear of the vehicle 12 and allows the radially guided beam 15 to pass through the two first plumbs 13 .

In other preferred embodiments, the second determination device 32 includes: a reflector 17 and a laser range finder 18, wherein the reflector 17 is vertically arranged on the rear wheel axle of the vehicle 12, and the reflector 17 is used to provide The reflective area perpendicular to the rear axle. The laser range finder 18 is arranged on the normal guide beam 16 , and the laser range finder 18 is used to measure the distance from the rear axle of the vehicle 12 to the normal guide beam 16 . The normal guide beam 16 is used to set up a laser range finder 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: a ground mark 19 arranged on the ground, a ground mark determination device, a height determination device and a marker fixing device, wherein the ground mark determination device is used to guide the light beam 15 according to the radial direction and the normal direction of the light beam The ground coordinate system constructed by 16 determines the two-dimensional coordinates of the ground mark 19 in the above-mentioned ground coordinate system, thereby determining the position of the ground mark 19; the height determination device is used to determine the set height of the ground mark 19 vertical direction marker 21; The object fixing device is used to fix the marker 21, and a height-adjustable marker bracket 20 can 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; the second plumb 202 is arranged at the center of the tripod 201, and the second plumb 202 is used to determine the horizontal position. During specific installation, the tripod 201 is fixed on the ground and the second plumb weight 202 overlaps with the ground mark 19; the marker 21 is installed on the marker bracket 20, and the marker 21 is fixed on the ground by adjusting the position and height of the tripod 201. The specified position set by the ground coordinate system. The tripod 201 has height adjustment capability and is responsible for fixing the position of the marker 21 in the three-dimensional space.

In other preferred embodiments, the signal acquisition device 34 includes: a laser radar three-dimensional point cloud acquisition device and a laser radar calibration result acquisition device, wherein the laser radar three-dimensional point cloud acquisition device is used to obtain the set marker 21 The three-dimensional point cloud signal of the environment; the laser radar calibration result acquisition device is used to obtain the laser radar calibration result for evaluation.

In other partial preferred embodiments, the vehicle-mounted laser radar calibration result evaluation system is further provided with a calibration result error prompting device, which is used for when the set position of the marker 21 includes multiple, after multiple evaluation system evaluations, multiple The error of the setting position of the marker 21 is analyzed, and the accuracy of each spatial degree of freedom in the calibration result is respectively prompted.

The vehicle-mounted laser radar calibration result evaluation system of the above-mentioned embodiment, by using the laser level 14 and a small number of markers 21, the time-consuming and cost of the vehicle-mounted laser radar calibration result evaluation can be significantly reduced, avoiding the need to build a dedicated system for the traditional laser radar calibration result evaluation. The high time and cost problems caused by a complete high-precision calibration in the calibration room have achieved the purpose of ensuring the convenient evaluation of the vehicle-mounted lidar calibration results in the installation of vehicle sensors, system debugging, maintenance and troubleshooting.

Referring to FIG. 3 , in another embodiment, a method for evaluating the calibration results of a vehicle-mounted lidar is provided, the method includes using the system described in the above embodiment, and specifically performing the following steps:

S1: Analyze the environmental terrain, determine a flat area, and park the vehicle in this area.

S2: Fix the first plumb weights on the horizontal centerlines of the front and rear ends of the vehicle, so that the two first plumb weights naturally hang down until they are close to the ground and then keep still.

S3: Place a laser level at the rear of the vehicle, adjust the position of the laser level until a radial guiding beam passes through the plumb bobs at both ends of the vehicle, and a corresponding normal guiding beam is parallel to the rear axle of the vehicle, according to The radial guide beam and the normal guide beam construct the ground coordinate system.

S4: Place a laser range finder on the normal guiding beam, place a reflector vertically at the rear axle of the vehicle, use the laser range finder and reflector to measure the horizontal distance from the normal guiding beam to the rear axle of the vehicle .

S5: Calculate the transformation relationship from the ground coordinate system to the vehicle coordinate system according to the horizontal distance from the normal guiding light beam to the vehicle rear axle.

S6: Determine the placement position and height of at least one marker according to the ground coordinate system.

S7: Place a marker bracket on at least one marker placement position, and adjust the position of the marker bracket so that the plumb bob at the center overlaps with the marker placement position.

S8: Adjust the height of the marker to make it consistent with the set height.

S9: Receive the calibration result between the lidar and the vehicle, and obtain the spatial pose transformation relationship from the lidar to the ground coordinate system according to the calibration result and the transformation relationship from the ground coordinate system to the vehicle coordinate system.

S10: Receive the vehicle-mounted lidar 3D point cloud signal, identify the landmark in the 3D point cloud signal, and obtain the 3D coordinates of the landmark in the lidar coordinate system.

S11: Calculate the three-dimensional coordinates of the landmarks sensed by the lidar in the ground coordinate system according to the spatial pose transformation relationship from the lidar to the ground coordinate system and the three-dimensional coordinates of the landmarks in the lidar coordinate system.

S12: Comparing the calculated three-dimensional coordinates of the landmarks sensed by the lidar in the ground coordinate system with the determined placement positions and heights of the landmarks, to obtain an evaluation of the vehicle lidar calibration results.

In a preferred embodiment, after S12, it further includes: S13: analyzing the evaluation of multiple calibration results, and prompting the errors of the calibration results in each degree of freedom.

In the above steps, when the marker in S6 is a corner reflector, the method for identifying the marker in the 3D point cloud signal in S10 is the plane fitting method. Using the plane fitting method can reduce the recognition accuracy error caused by the insufficient density of the 3D point cloud of the lidar, and obtain a higher-precision marker recognition effect.

What is disclosed here are only preferred embodiments of the present invention. The purpose of selecting and describing these embodiments in this description is to better explain the principle and practical application of the present invention, not to limit the present invention. Any modifications and changes made by those skilled in the art within the scope of the description shall fall within the protection scope of the present 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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