CN113109792A - Laser radar calibration method, laser radar calibration device and intelligent equipment - Google Patents
Laser radar calibration method, laser radar calibration device and intelligent equipment Download PDFInfo
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- CN113109792A CN113109792A CN202110337971.5A CN202110337971A CN113109792A CN 113109792 A CN113109792 A CN 113109792A CN 202110337971 A CN202110337971 A CN 202110337971A CN 113109792 A CN113109792 A CN 113109792A
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Abstract
The application is suitable for the technical field of laser radars, and provides a laser radar calibration method, a laser radar calibration device and intelligent equipment, wherein the method comprises the following steps: acquiring point cloud data corresponding to a first laser beam emitted by a first laser radar and point cloud data corresponding to a second laser beam emitted by a second laser radar, wherein the first laser radar and the second laser radar are arranged on the same intelligent device, and the first laser beam and the second laser beam are projected to the same target point of a calibrated object; determining a calibration value according to the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam; and carrying out combined calibration on the first laser radar and the second laser radar according to the calibration value. By the method, the joint calibration of the plurality of laser radars can be automatically completed, and the calibration precision and the calibration efficiency are improved.
Description
Technical Field
The application belongs to the technical field of laser radars, and particularly relates to a laser radar calibration method, a laser radar calibration device, intelligent equipment and a computer readable storage medium.
Background
Currently, a plurality of laser radars are generally mounted on smart devices (such as mobile robots and autonomous vehicles), and object sensing and positioning are performed through the plurality of laser radars. In a detection system of a plurality of laser radars, a unified coordinate system is needed, so that the plurality of laser radars need to be jointly calibrated, and point cloud data of the laser radars can be converted with each other.
In the traditional scheme, technical personnel usually carry out calibration of a plurality of laser radars manually, and the calibration precision of the mode is low, the effect is unstable, and the calibration efficiency is greatly reduced.
Disclosure of Invention
In view of this, the present application provides a laser radar calibration method, a laser radar calibration apparatus, an intelligent device, and a computer-readable storage medium, which can automatically complete joint calibration of multiple laser radars, thereby improving calibration accuracy and calibration efficiency.
In a first aspect, the present application provides a laser radar calibration method, including:
acquiring point cloud data corresponding to a first laser beam emitted by a first laser radar and point cloud data corresponding to a second laser beam emitted by a second laser radar, wherein the first laser radar and the second laser radar are arranged on the same intelligent device, and the first laser beam and the second laser beam are projected to the same target point of a calibrated object;
determining a calibration value according to the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam;
and carrying out combined calibration on the first laser radar and the second laser radar according to the calibration value.
In a second aspect, the present application provides a laser radar calibration apparatus, including:
the system comprises an acquisition unit, a calibration unit and a control unit, wherein the acquisition unit is used for acquiring point cloud data corresponding to a first laser beam emitted by a first laser radar and point cloud data corresponding to a second laser beam emitted by a second laser radar, the first laser radar and the second laser radar are arranged on the same intelligent device, and the first laser beam and the second laser beam are projected to the same target point of a calibration object;
a determining unit, configured to determine a calibration value according to the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam;
and the calibration unit is used for carrying out combined calibration on the first laser radar and the second laser radar according to the calibration value.
In a third aspect, the present application provides a smart device comprising a first lidar, a second lidar, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method provided in the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the method as provided in the first aspect.
In a fifth aspect, the present application provides a computer program product, which, when run on a smart device, causes the smart device to perform the method provided by the first aspect.
As can be seen from the above, in the present application, point cloud data corresponding to a first laser beam emitted by a first laser radar and point cloud data corresponding to a second laser beam emitted by a second laser radar are first obtained, the first laser radar and the second laser radar are disposed on the same intelligent device, the first laser beam and the second laser beam are projected to the same target point of a calibration object, then a calibration value is determined according to the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam, and finally the first laser radar and the second laser radar are jointly calibrated according to the calibration value. According to the technical scheme, the first laser beam is transmitted through the first laser radar, the second laser beam is transmitted through the second laser radar, and the first laser beam and the second laser beam are projected at the same target point, so that point cloud data corresponding to the first laser beam and the second laser beam are used for representing the target point, and then the calibration value can be determined according to the point cloud data corresponding to the first laser beam and the second laser beam, so that automatic calibration can be realized by using the calibration value, and the calibration precision and the calibration efficiency are improved. It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flowchart of a laser radar calibration method provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of a first calibration scenario provided in an embodiment of the present application;
FIG. 3 is a schematic cross-point diagram provided by an embodiment of the present application;
FIG. 4 is a schematic diagram of a second calibration scenario provided by an embodiment of the present application;
fig. 5 is a schematic structural diagram of a laser radar calibration apparatus provided in an embodiment of the present application;
fig. 6 is a schematic structural diagram of an intelligent device provided in an embodiment of the present application.
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 present application. It will be apparent, however, to one skilled in the art that the present application 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 application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Fig. 1 shows a flowchart of a lidar calibration method provided in an embodiment of the present application, where the lidar calibration method is applied to an intelligent device, and is detailed as follows:
In this embodiment, the first lidar and the second lidar are disposed on the same smart device, wherein the smart device may be a robot or an unmanned vehicle, and the first lidar and the second lidar may be multiline lidar, such as 32-line lidar. Through the first laser radar and the second laser radar, the calibration object can be detected, and point cloud data describing the calibration object is obtained. In order to realize the joint calibration of the first laser radar and the second laser radar, point cloud data corresponding to a first laser beam emitted by the first laser radar and point cloud data corresponding to a second laser beam emitted by the second laser radar can be obtained. For example, if the laser beam 3 emitted by the first laser radar and the laser beam 20 emitted by the second laser radar are both projected to the point a, the laser beam 3 may be used as the first laser beam and the laser beam 20 may be used as the second laser beam.
Referring to fig. 2, the first laser radar and the second laser radar may be located in the same vertical plane, and the angles of view of the first laser radar and the second laser radar are both directed toward the calibration object, so that the angle of view of the first laser radar and the angle of view of the second laser radar have an overlapping region, so as to ensure that the first laser beam and the second laser beam exist. In fig. 2, the first laser beam and the second laser beam are both projected to an e point on the calibration object, the e point is a target point, the distance between the first laser radar and the second laser radar in the horizontal direction is D, the distance between the first laser radar and the e point in the horizontal direction is L, the height of the first laser radar from the ground is h1, the height of the second laser radar from the ground is h2, the height of the e point from the ground is h, the angle between the first laser beam and the center line of the field of view of the first laser radar is α, and the angle between the second laser beam and the center line of the field of view of the second laser radar is β.
And 102, determining a calibration value according to the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam.
In the embodiment of the present application, the first laser beam and the second laser beam are projected to the same target point of the calibration object, that is, both the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam are used to describe the target point, where the point cloud data includes, but is not limited to, distance data (used to represent the distance between the target point and the lidar) and angle data (used to represent the angle of the target point in the field of view of the lidar). After the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam are obtained, the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam can be compared, and then the calibration value is determined according to the comparison result.
For example, a difference value between the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam may be used as a calibration value. For example, assuming that the point cloud data corresponding to the first laser beam indicates that the target point is 6 meters ahead and the angle is 45 degrees, and the point cloud data corresponding to the second laser beam indicates that the target point is 5.98 meters ahead and the angle is 44.8 degrees, based on this, 6 meters-5.98 meters-0.02 meters and 45 degrees-44.8 degrees-0.2 degrees can be taken as calibration values.
And 103, carrying out combined calibration on the first laser radar and the second laser radar according to the calibration value.
In the embodiment of the application, after the calibration value is obtained, the joint calibration of the first laser radar and the second laser radar can be completed according to the calibration value, so that the point cloud data of the first laser radar and the point cloud data of the second laser radar can be converted. For example, assuming that the calibration value includes a distance calibration value of 0.02 m and an angle calibration value of 0.2 degrees, the distance data in the point cloud data of the second lidar may be added by 0.02 m, and the angle data in the point cloud data of the second lidar may be added by 0.2 degrees, so as to complete the joint calibration of the first lidar and the second lidar.
Optionally, the first laser radar and the second laser radar are both multiline laser radars, and before step 101, the method further includes:
a1, determining a target point and acquiring the position of the target point;
a2, obtaining the relative position relation between the target point and the first laser radar and the second laser radar based on the position of the target point;
a3, determining a first laser beam in at least two laser beams emitted by a first laser radar according to the relative position relationship between a target point and the first laser radar;
and A4, determining a second laser beam in at least two laser beams emitted by the second laser radar according to the relative position relationship between the target point and the second laser radar.
In the embodiment of the present application, in order to determine the first laser beam and the second laser beam, it is first necessary to determine a target point on the calibration object and acquire the position of the target point. After the position of the target point is obtained, the relative position relationship between the target point and the first laser radar and the relative position relationship between the target point and the second laser radar can be obtained based on the position of the target point. Since the positions of the first laser radar and the second laser radar on the intelligent device are fixed, and the emission direction of each laser beam is also fixed, according to the relative position relationship between the target point and the first laser radar, it can be determined which of the at least two laser beams emitted by the first laser radar is projected on the target point, and then the laser beams projected on the target point from the at least two laser beams are used as the first laser beams.
Optionally, the step a1 specifically includes:
determining at least one intersection point and the position of each intersection point according to the transmitting direction of each path of laser beams transmitted by the first laser radar and the transmitting direction of each path of laser beams transmitted by the second laser radar;
obtaining the distance between a calibration object and the first laser radar or the second laser radar, and recording the distance of the object;
based on the position of each intersection and the object distance, a target point is determined from the at least one intersection, and the position of the target point is acquired.
In this application embodiment, set up first lidar and second lidar behind the smart machine, can locally take notes the emission direction of each way laser beam of first lidar transmission and the emission direction of each way laser beam of second lidar transmission to the smart machine reads. The intelligent device can determine at least one intersection point and the position of each intersection point according to the transmitting direction of each path of laser beams transmitted by the first laser radar and the transmitting direction of each path of laser beams transmitted by the second laser radar, wherein the intersection point refers to a point where the laser beams transmitted by the first laser radar and the laser beams transmitted by the second laser radar intersect. Specifically, referring to fig. 3, points Q1, Q2, Q3, Q4, and Q5 in fig. 3 are all cross points, and it is understood that other cross points exist in fig. 3, which are not listed here. The object distance may be a distance between the calibration object and the first laser radar, or a distance between the calibration object and the second laser radar. When the object distance is the distance between the calibration object and the first laser radar, the intelligent device can obtain the object distance according to the point cloud data of the first laser radar; when the object distance is the distance between the calibration object and the second laser radar, the intelligent device can acquire the object distance according to the point cloud data of the second laser radar.
Finally, based on the position of each intersection and the object distance, a target point can be determined from at least one intersection, and the position of the target point can be obtained. Specifically, for an intersection, it may be determined whether the intersection falls on the surface of the calibration object according to the position of the intersection and the object distance, and if the intersection falls on the surface of the calibration object, the intersection is determined as the target point, and the position of the intersection is also the position of the target point.
In one possible embodiment, for convenience of calculation, a position of a closest intersection point to the smart device may be acquired, and then, based on the position of the intersection point, a point on the surface of the calibration object that is level with the intersection point is determined as a target point, and the target point is located in the same vertical plane as the first lidar and the second lidar. Specifically, referring to fig. 4, the field angles of the first laser radar and the second laser radar have an overlapping region (e.g., a shaded portion), where point O is a closest intersection point to the smart device, point O is taken as a starting point, a line Oc is obtained by taking the point O as an extension line in the horizontal direction, and a point e where the line Oc intersects with the calibration object is a target point.
Optionally, the step a2 specifically includes:
the first deviation angle and the second deviation angle are derived based on the position of the target point.
In this embodiment, the relative position relationship between the target point and the first lidar includes a first deviation angle, and the relative position relationship between the target point and the second lidar includes a second deviation angle, where the first deviation angle is an angle at which the target point deviates from a view field center line of the first lidar, and the second deviation angle is an angle at which the target point deviates from a view field center line of the second lidar, with respect to the second lidar. Referring to fig. 2, α in fig. 2 is a first deviation angle, β is a second deviation angle; the first deviation angle α ═ arctan ((h-h1)/L) can be obtained from the trigonometric function tan α ═ h1)/L, and the second deviation angle β ═ arctan ((h2-h)/(L + D) can be obtained from the trigonometric function tan β ═ (h2-h)/(L + D). D, h1 and h2 can be measured in advance by a worker and input into the smart device.
Optionally, the step a3 specifically includes:
acquiring a first included angle between each path of laser beam emitted by the first laser radar and a view field central line of the first laser radar;
a laser beam having a first included angle equal to the first deviation angle is determined as the first laser beam.
In this embodiment of the application, according to the emission direction of each laser beam emitted by the first laser radar, a first included angle between each laser beam emitted by the first laser radar and the view field center line of the first laser radar may be obtained, and then, among all laser beams emitted by the first laser radar, a laser beam having the first included angle equal to the first deviation angle is searched, where the laser beam is a laser beam projected to a target point, that is, the first laser beam.
Optionally, the step a4 specifically includes:
acquiring a second included angle between each path of laser beam emitted by the second laser radar and the view field center line of the second laser radar;
in this embodiment of the application, according to the emission direction of each laser beam emitted by the second lidar, a second included angle between each laser beam emitted by the second lidar and the view field center line of the second lidar may be obtained, and then, among all laser beams emitted by the second lidar, laser beams having the second included angle equal to the second deviation angle are searched, where the laser beam is a laser beam projected to a target point, that is, the second laser beam.
Optionally, in order to improve the accuracy of the joint calibration, the step 102 specifically includes:
determining m calibration values according to the point cloud data corresponding to the m paths of first laser beams and the point cloud data corresponding to the m paths of second laser beams, wherein m is an integer greater than 1;
correspondingly, the step 103 specifically includes:
and carrying out combined calibration on the first laser radar and the second laser radar according to the average value of the m calibration values.
In the embodiment of the application, the intelligent device may determine m target points on the calibration object, and further determine m paths of the first laser beams and m paths of the second laser beams according to the positions of the m target points. The ith first laser beam and the ith second laser beam are projected to the same target point of the calibration object, and the ith first laser beam and the remaining m-1 first laser beams in the m first laser beams are projected to different target points of the calibration object, where i is 1, 2, …, m, for example, the ith first laser beam and the ith second laser beam are projected to the ith target point of the calibration object. After point cloud data corresponding to m first laser beams and point cloud data corresponding to m second laser beams are obtained, m calibration values can be determined according to the point cloud data corresponding to m first laser beams and the point cloud data corresponding to m second laser beams, and specifically, the ith calibration value can be determined according to the point cloud data corresponding to the ith first laser beam and the point cloud data corresponding to the ith second laser beam. And finally, calculating the average value of the m calibration values, and then carrying out combined calibration on the first laser radar and the second laser radar according to the average value of the m calibration values, thereby improving the accuracy of the combined calibration.
As can be seen from the above, in the present application, point cloud data corresponding to a first laser beam emitted by a first laser radar and point cloud data corresponding to a second laser beam emitted by a second laser radar are first obtained, the first laser radar and the second laser radar are disposed on the same intelligent device, the first laser beam and the second laser beam are projected to the same target point of a calibration object, then a calibration value is determined according to the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam, and finally the first laser radar and the second laser radar are jointly calibrated according to the calibration value. According to the technical scheme, the first laser beam is transmitted through the first laser radar, the second laser beam is transmitted through the second laser radar, and the first laser beam and the second laser beam are projected at the same target point, so that point cloud data corresponding to the first laser beam and the second laser beam are used for representing the target point, and then the calibration value can be determined according to the point cloud data corresponding to the first laser beam and the second laser beam, so that automatic calibration can be realized by using the calibration value, and the calibration precision and the calibration efficiency are improved.
It should be understood 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 application.
Fig. 5 shows a schematic structural diagram of a lidar calibration apparatus provided in an embodiment of the present application, where the lidar calibration apparatus is applied to an intelligent device, and for convenience of description, only a part related to the embodiment of the present application is shown.
This laser radar calibration device 500 includes:
an obtaining unit 501, configured to obtain point cloud data corresponding to a first laser beam emitted by a first laser radar and point cloud data corresponding to a second laser beam emitted by a second laser radar, where the first laser radar and the second laser radar are disposed on a same intelligent device, and the first laser beam and the second laser beam are projected to a same target point of a calibration object;
a determining unit 502, configured to determine a calibration value according to the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam;
a calibration unit 503, configured to perform joint calibration on the first laser radar and the second laser radar according to the calibration value.
Optionally, the lidar calibrating apparatus 500 further includes:
a target point determining unit configured to determine the target point and acquire a position of the target point;
a position relation obtaining unit configured to obtain a relative position relation between the target point and the first and second laser radars based on a position of the target point;
a first laser beam determining unit, configured to determine the first laser beam in at least two laser beams emitted by the first laser radar according to a relative position relationship between the target point and the first laser radar;
and a second laser beam determination unit, configured to determine the second laser beam in at least two laser beams emitted by the second laser radar according to a relative position relationship between the target point and the second laser radar.
Alternatively, the relative positional relationship between the target point and the first lidar may include a first deviation angle, the relative positional relationship between the target point and the second lidar may include a second deviation angle, the first deviation angle may be an angle at which the target point deviates from a center line of a field of view of the first lidar with respect to the first lidar, and the second deviation angle may be an angle at which the target point deviates from a center line of a field of view of the second lidar with respect to the second lidar, and the positional relationship acquisition unit may be configured to obtain the first deviation angle and the second deviation angle based on a position of the target point.
Optionally, the first laser beam determination unit includes:
a first included angle obtaining subunit, configured to obtain a first included angle between each path of laser beam emitted by the first laser radar and a center line of a field of view of the first laser radar;
and a first laser beam determination subunit, configured to determine, as the first laser beam, a laser beam having a first included angle equal to the first deviation angle.
Optionally, the second laser beam determination unit includes:
a second included angle obtaining subunit, configured to obtain a second included angle between each path of laser beam emitted by the second laser radar and a center line of a field of view of the second laser radar;
and a second laser beam determination subunit for determining a laser beam having a second included angle equal to the second deviation angle as the second laser beam.
Optionally, the target point determining unit includes:
a cross point determining subunit, configured to determine at least one cross point and a position of each cross point according to a transmitting direction of each laser beam transmitted by the first laser radar and a transmitting direction of each laser beam transmitted by the second laser radar, where the cross point is a point where the laser beam transmitted by the first laser radar and the laser beam transmitted by the second laser radar cross;
an object distance obtaining subunit, configured to obtain a distance between the calibration object and the first laser radar or the second laser radar, and record the object distance;
and a target point determining subunit, configured to determine the target point from the at least one intersection point based on the position of each intersection point and the object distance, and acquire the position of the target point.
Optionally, the determining unit 502 is specifically configured to determine a difference value between the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam as the calibration value.
Optionally, the determining unit 502 is specifically configured to determine m calibration values according to point cloud data corresponding to m first laser beams and point cloud data corresponding to m second laser beams, where the ith first laser beam and the ith second laser beam are projected to a same target point of the calibration object, the ith first laser beam and m-1 first laser beams remaining from the m first laser beams are projected to different target points of the calibration object, m is an integer greater than 1, and i is 1, 2, …, m;
accordingly, the calibration unit 503 is specifically configured to perform joint calibration on the first laser radar and the second laser radar according to the average value of the m calibration values.
As can be seen from the above, in the present application, point cloud data corresponding to a first laser beam emitted by a first laser radar and point cloud data corresponding to a second laser beam emitted by a second laser radar are first obtained, the first laser radar and the second laser radar are disposed on the same intelligent device, the first laser beam and the second laser beam are projected to the same target point of a calibration object, then a calibration value is determined according to the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam, and finally the first laser radar and the second laser radar are jointly calibrated according to the calibration value. According to the technical scheme, the first laser beam is transmitted through the first laser radar, the second laser beam is transmitted through the second laser radar, and the first laser beam and the second laser beam are projected at the same target point, so that point cloud data corresponding to the first laser beam and the second laser beam are used for representing the target point, and then the calibration value can be determined according to the point cloud data corresponding to the first laser beam and the second laser beam, so that automatic calibration can be realized by using the calibration value, and the calibration precision and the calibration efficiency are improved.
Fig. 6 is a schematic structural diagram of an intelligent device according to an embodiment of the present application. As shown in fig. 6, the smart device 6 of this embodiment includes: a first lidar 64, a second lidar 63, at least one processor 60 (only one shown in fig. 6) a processor, a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, the processor 60 implementing the following steps when executing the computer program 62:
acquiring point cloud data corresponding to a first laser beam emitted by a first laser radar and point cloud data corresponding to a second laser beam emitted by a second laser radar, wherein the first laser radar and the second laser radar are arranged on the same intelligent device, and the first laser beam and the second laser beam are projected to the same target point of a calibrated object;
determining a calibration value according to the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam;
and carrying out combined calibration on the first laser radar and the second laser radar according to the calibration value.
Assuming that the above is the first possible implementation manner, in a second possible implementation manner provided on the basis of the first possible implementation manner, the first lidar and the second lidar are both multiline lidar, and before the point cloud data corresponding to the first laser beam emitted by the first lidar and the point cloud data corresponding to the second laser beam emitted by the second lidar are acquired, the processor 60 further implements the following steps when executing the computer program 62:
determining the target point and acquiring the position of the target point;
obtaining a relative positional relationship between the target point and the first and second laser radars based on the position of the target point;
determining the first laser beam in at least two laser beams emitted by the first laser radar according to the relative position relationship between the target point and the first laser radar;
and determining the second laser beam in at least two laser beams emitted by the second laser radar according to the relative position relationship between the target point and the second laser radar.
In a third possible embodiment based on the second possible embodiment, a relative positional relationship between the target point and the first lidar includes a first deviation angle, a relative positional relationship between the target point and the second lidar includes a second deviation angle, the first deviation angle is an angle at which the target point is deviated from a center line of a field of view of the first lidar with respect to the first lidar, the second deviation angle is an angle at which the target point is deviated from a center line of a field of view of the second lidar with respect to the second lidar, and the obtaining of the relative positional relationship between the target point and the first and second radars based on the position of the target point includes:
the first deviation angle and the second deviation angle are obtained based on the position of the target point.
In a fourth possible embodiment based on the third possible embodiment, the determining the first laser beam in at least two laser beams emitted by the first laser radar according to the relative position relationship between the target point and the first laser radar includes:
acquiring a first included angle between each path of laser beam emitted by the first laser radar and a view field center line of the first laser radar;
determining a laser beam having a first included angle equal to the first deviation angle as the first laser beam;
the determining the second laser beam in the at least two laser beams emitted by the second laser radar according to the relative position relationship between the target point and the second laser radar includes:
acquiring a second included angle between each path of laser beam emitted by the second laser radar and the view field center line of the second laser radar;
and determining the laser beam with the second included angle equal to the second deviation angle as the second laser beam.
In a fifth possible embodiment based on the second possible embodiment, the determining the target point and acquiring the position of the target point includes:
determining at least one intersection point and the position of each intersection point according to the transmitting direction of each path of laser beams transmitted by the first laser radar and the transmitting direction of each path of laser beams transmitted by the second laser radar, wherein the intersection point is a point where the laser beams transmitted by the first laser radar and the laser beams transmitted by the second laser radar intersect;
acquiring the distance between the calibration object and the first laser radar or the second laser radar, and recording the distance of the object;
and determining the target point from the at least one intersection point based on the position of each intersection point and the object distance, and acquiring the position of the target point.
In a sixth possible embodiment based on the first possible embodiment, the second possible embodiment, the third possible embodiment, the fourth possible embodiment, or the fifth possible embodiment, the determining a calibration value according to the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam includes:
and determining the difference value between the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam as the calibration value.
In a seventh possible embodiment based on the first possible embodiment, the second possible embodiment, the third possible embodiment, the fourth possible embodiment, or the fifth possible embodiment, the determining a calibration value according to the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam includes:
determining m calibration values according to point cloud data corresponding to m paths of first laser beams and point cloud data corresponding to m paths of second laser beams, wherein the ith path of first laser beams and the ith path of second laser beams are projected to the same target point of the calibration object, the ith path of first laser beams and the m-1 paths of first laser beams in the m paths of first laser beams are projected to different target points of the calibration object, m is an integer greater than 1, and i is 1, 2, …, m;
correspondingly, the jointly calibrating the first laser radar and the second laser radar according to the calibration value includes:
and jointly calibrating the first laser radar and the second laser radar according to the average value of the m calibration values.
The smart device may include, but is not limited to, a processor 60, a memory 61. Those skilled in the art will appreciate that fig. 6 is merely an example of the smart device 6, and does not constitute a limitation of the smart device 6, and may include more or less components than those shown, or combine some of the components, or different components, such as input output devices, network access devices, etc.
The Processor 60 may be a Central Processing Unit (CPU), and the Processor 60 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may be an internal storage unit of the intelligent device 6, such as a hard disk or a memory of the intelligent device 6. The memory 61 may be an external storage device of the Smart device 6 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the Smart device 6. Further, the memory 61 may include both an internal storage unit and an external storage device of the smart device 6. The memory 61 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer programs. The above-mentioned memory 61 may also be used to temporarily store data that has been output or is to be output.
As can be seen from the above, in the present application, point cloud data corresponding to a first laser beam emitted by a first laser radar and point cloud data corresponding to a second laser beam emitted by a second laser radar are first obtained, the first laser radar and the second laser radar are disposed on the same intelligent device, the first laser beam and the second laser beam are projected to the same target point of a calibration object, then a calibration value is determined according to the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam, and finally the first laser radar and the second laser radar are jointly calibrated according to the calibration value. According to the technical scheme, the first laser beam is transmitted through the first laser radar, the second laser beam is transmitted through the second laser radar, and the first laser beam and the second laser beam are projected at the same target point, so that point cloud data corresponding to the first laser beam and the second laser beam are used for representing the target point, and then the calibration value can be determined according to the point cloud data corresponding to the first laser beam and the second laser beam, so that automatic calibration can be realized by using the calibration value, and the calibration precision and the calibration efficiency are improved.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned functions may be distributed as different functional units and modules according to needs, that is, the internal structure of the apparatus may be divided into different functional units or modules to implement all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above method embodiments.
The embodiments of the present application provide a computer program product, which when running on an intelligent device, enables the intelligent device to implement the steps in the above method embodiments when executed.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. The computer program includes computer program code, and the computer program code may be in a source code form, an object code form, an executable file or some intermediate form. The computer-readable medium may include at least: any entity or apparatus capable of carrying computer program code to a lidar calibration apparatus of a smart device/smart device, a recording medium, a computer Memory, a Read-Only Memory (ROM), a Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the above modules or units is only one logical function division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application 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 substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A laser radar calibration method is characterized by comprising the following steps:
acquiring point cloud data corresponding to a first laser beam emitted by a first laser radar and point cloud data corresponding to a second laser beam emitted by a second laser radar, wherein the first laser radar and the second laser radar are arranged on the same intelligent device, and the first laser beam and the second laser beam are projected to the same target point of a calibrated object;
determining a calibration value according to the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam;
and carrying out combined calibration on the first laser radar and the second laser radar according to the calibration value.
2. The lidar calibration method according to claim 1, wherein the first lidar and the second lidar are both multiline lidar, and further comprising, before the acquiring point cloud data corresponding to a first laser beam emitted by the first lidar and point cloud data corresponding to a second laser beam emitted by the second lidar:
determining the target point and acquiring the position of the target point;
obtaining the relative position relation between the target point and the first laser radar and the second laser radar based on the position of the target point;
determining the first laser beam in at least two laser beams emitted by the first laser radar according to the relative position relationship between the target point and the first laser radar;
and determining the second laser beam in at least two laser beams emitted by the second laser radar according to the relative position relationship between the target point and the second laser radar.
3. The lidar calibration method according to claim 2, wherein the relative positional relationship between the target point and the first lidar comprises a first deviation angle, the relative positional relationship between the target point and the second lidar comprises a second deviation angle, the first deviation angle is an angle at which the target point deviates from a center line of a field of view of the first lidar relative to the first lidar, the second deviation angle is an angle at which the target point deviates from a center line of a field of view of the second lidar relative to the second lidar, and the obtaining the relative positional relationship between the target point and the first and second lidar based on the position of the target point comprises:
the first deviation angle and the second deviation angle are derived based on the position of the target point.
4. The lidar calibration method according to claim 3, wherein determining the first laser beam in at least two laser beams emitted by the first lidar according to the relative position relationship between the target point and the first lidar comprises:
acquiring a first included angle between each path of laser beam emitted by the first laser radar and a view field central line of the first laser radar;
determining a laser beam having a first included angle equal to the first deviation angle as the first laser beam;
determining the second laser beam in at least two laser beams emitted by the second laser radar according to the relative position relationship between the target point and the second laser radar, including:
acquiring a second included angle between each path of laser beam emitted by the second laser radar and the view field center line of the second laser radar;
determining a laser beam having a second included angle equal to the second deviation angle as the second laser beam.
5. The lidar calibration method of claim 2, wherein the determining the target point and acquiring the position of the target point comprises:
determining at least one intersection point and the position of each intersection point according to the transmitting direction of each path of laser beams transmitted by the first laser radar and the transmitting direction of each path of laser beams transmitted by the second laser radar, wherein the intersection point is a point where the laser beams transmitted by the first laser radar and the laser beams transmitted by the second laser radar intersect;
acquiring the distance between the calibration object and the first laser radar or the second laser radar, and recording the distance of the calibration object;
determining the target point from the at least one intersection point based on the position of each intersection point and the object distance, and acquiring the position of the target point.
6. The lidar calibration method according to any of claims 1 to 5, wherein determining a calibration value according to the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam comprises:
and determining a difference value between the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam as the calibration value.
7. The lidar calibration method according to any of claims 1 to 5, wherein determining a calibration value according to the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam comprises:
determining m calibration values according to point cloud data corresponding to m paths of first laser beams and point cloud data corresponding to m paths of second laser beams, wherein the ith path of first laser beams and the ith path of second laser beams are projected to the same target point of the calibration object, the ith path of first laser beams and m-1 paths of first laser beams in the m paths of first laser beams are projected to different target points of the calibration object, m is an integer greater than 1, and i is 1, 2, …, m;
correspondingly, the jointly calibrating the first laser radar and the second laser radar according to the calibration value includes:
and carrying out combined calibration on the first laser radar and the second laser radar according to the average value of the m calibration values.
8. A laser radar calibration device is characterized by comprising:
the system comprises an acquisition unit, a calibration unit and a control unit, wherein the acquisition unit is used for acquiring point cloud data corresponding to a first laser beam emitted by a first laser radar and point cloud data corresponding to a second laser beam emitted by a second laser radar, the first laser radar and the second laser radar are arranged on the same intelligent device, and the first laser beam and the second laser beam are projected to the same target point of a calibration object;
the determining unit is used for determining a calibration value according to the point cloud data corresponding to the first laser beam and the point cloud data corresponding to the second laser beam;
and the calibration unit is used for carrying out combined calibration on the first laser radar and the second laser radar according to the calibration value.
9. A smart device comprising a first lidar, a second lidar, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method of any of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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