CN113484843A - Method and device for determining external parameters between laser radar and integrated navigation - Google Patents
Method and device for determining external parameters between laser radar and integrated navigation Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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Abstract
The embodiment of the application relates to a method and a device for determining external parameters between a laser radar and combined navigation, and the method comprises the steps of obtaining first point cloud data collected by the laser radar in a preset area, determining track information corresponding to the preset area based on the first point cloud data, obtaining second point cloud data collected by the laser radar in the preset area based on the track information, obtaining a first positioning data set collected by the combined navigation in the preset area, determining a second positioning data set corresponding to the laser radar according to the second point cloud data and the track information, determining a target positioning data pair set according to the first positioning data set and the second positioning data set, determining the external parameters between the laser radar and the combined navigation based on the target positioning data pair set. The method and the device can avoid the problem that the longitudinal laser radar point cloud in the single-frame laser radar point cloud is too sparse to cause the difficulty in feature extraction.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a method and a device for determining external parameters between a laser radar and integrated navigation.
Background
With the rapid progress of artificial intelligence and data science, the intelligent driving technology is fully developed. For vehicle positioning, it is critical to provide centimeter-level high-precision positioning in real time under the full scene. The existing positioning method mainly adopts multi-line laser radar and integrated navigation fusion positioning, wherein the calibration of the relative pose between the laser radar and the integrated navigation is an important premise, and the high quality of the relative pose parameter directly relates to the accuracy of the fusion positioning.
At present, acquiring relative pose parameters between a laser radar and an integrated navigation includes two schemes, namely, extracting corresponding planes and normal vectors through point cloud data based on reference surfaces such as the ground, a wall surface and the like to further determine the pose of the laser radar, and manually measuring the pose parameters of the laser radar relative to the integrated navigation through a measuring tool; and secondly, collecting laser radar data and combined navigation data at different positions, associating laser point clouds according to commonly fixed road signs, constructing a pose transformation relation based on the fixed characteristics of the road signs in a world coordinate system, and calculating relative pose parameters between the laser radar and the combined navigation. However, both of the above solutions have the following disadvantages:
the attitude of the laser radar is determined based on reference surfaces such as the ground and the wall in the first scheme, errors exist, and the laser radar is mounted on the roof and the combined navigation host is mounted in the vehicle based on a common vehicle sensor layout mode, so that certain difficulty is brought to manual measurement, and the measurement accuracy is low.
In the second scheme, longitudinal laser point clouds are sparse, and the features are not rich enough, so that the extraction and the association of the laser point clouds are difficult, even manual intervention is required, and the operation is complex.
Disclosure of Invention
The embodiment of the application provides a method and a device for determining external parameters between a laser radar and a combined navigation, which can avoid the problem of difficulty in feature extraction caused by over-sparse longitudinal laser radar point cloud in single-frame laser radar point cloud. And feature points can be prevented from being extracted, so that the calibration result is more stable.
The embodiment of the application provides a method for determining external parameters between a laser radar and integrated navigation, which is characterized by comprising the following steps:
acquiring first point cloud data acquired by a laser radar in a preset area;
determining track information corresponding to a preset area based on the first point cloud data;
acquiring second point cloud data acquired by the laser radar in a preset area based on the track information, and acquiring a first positioning data set acquired by combined navigation in the preset area;
determining a second positioning data set corresponding to the laser radar according to the second point cloud data and the track information;
determining a set of target positioning data pairs according to the first positioning data set and the second positioning data set;
and determining an external parameter between the laser radar and the combined navigation based on the set of object positioning data pairs.
Further, determining a set of object location data pairs from the first set of location data and the second set of location data comprises:
determining a positioning data set to be matched from the first positioning data set and/or the second positioning data set based on a preset time interval, a preset angle or a preset distance;
determining a set of target positioning data pairs according to the set of positioning data to be matched, the first positioning data set and the second positioning data set; each target positioning data pair comprises first positioning data and second positioning data which are determined from the first positioning data set and the second positioning data set and have the same acquisition time.
Further, before determining the external parameter between the lidar and the integrated navigation based on the set of object location data pairs, the method further includes:
determining a first transformation data set corresponding to the first positioning data set and a second transformation data set corresponding to the second positioning data set based on the target positioning data pair set;
determining first transformation information corresponding to the integrated navigation according to the first transformation data set;
and determining second transformation information corresponding to the laser radar according to the second transformation data set.
Further, determining an external parameter between the lidar and the integrated navigation based on the set of object location data pairs, comprising:
and determining external parameters between the laser radar and the combined navigation according to the preset constraint rule, the first transformation information and the second transformation information.
Further, after determining the external parameter between the lidar and the integrated navigation based on the set of object location data pairs, the method further includes:
determining error information according to the external parameter, the first positioning data set and the second positioning data set;
if the error information is outside the preset interval, repeating the following steps: the method comprises the steps of acquiring second point cloud data acquired by a laser radar in a preset area based on track information, acquiring a first positioning data set acquired by a combined navigation in the preset area, determining a second positioning data set corresponding to the laser radar according to the second point cloud data and the track information, determining a target positioning data pair set according to the first positioning data set and the second positioning data set, and determining external parameters between the laser radar and the combined navigation based on the target positioning data pair set until error information is in a preset interval.
Further, acquiring first point cloud data acquired by the laser radar in a preset area, including:
when the vehicle is at a low speed and runs in a preset area at a constant speed, acquiring first point cloud data collected by a laser radar in the preset area;
the upper part of the preset area is not blocked and is provided with a plurality of static reference objects, and the running track of the vehicle is a closed track.
Further, acquiring a first positioning data set acquired by the combined navigation in a preset area, including:
acquiring an initial data set acquired by the integrated navigation in a first coordinate system corresponding to the integrated navigation;
and projecting the initial data set to a second coordinate system based on a conversion rule of the first coordinate system and the second coordinate system to obtain a first positioning data set.
Correspondingly, the embodiment of the application also provides a device for determining external parameters between the laser radar and the combined navigation, and the device comprises:
the first acquisition module is used for acquiring first point cloud data acquired by the laser radar in a preset area;
the first determining module is used for determining track information corresponding to a preset area based on the first point cloud data;
the second acquisition module is used for acquiring second point cloud data acquired by the laser radar in a preset area based on the track information and acquiring a first positioning data set acquired by the combined navigation in the preset area;
the second determining module is used for determining a second positioning data set according to the second point cloud data and the track information;
a third determining module, configured to determine a set of target positioning data pairs according to the first positioning data set and the second positioning data set;
and the fourth determination module is used for determining external parameters between the laser radar and the combined navigation based on the target positioning data pair set.
Further, the third determining module is configured to determine a positioning data set to be matched from the first positioning data set and/or the second positioning data set based on a preset time interval, a preset angle, or a preset distance;
determining a set of target positioning data pairs according to the set of positioning data to be matched, the first positioning data set and the second positioning data set; each target positioning data pair comprises first positioning data and second positioning data which are determined from the first positioning data set and the second positioning data set and have the same acquisition time.
Further, still include: a fifth determining module, configured to determine, based on the set of object location data pairs, a first transformed data set corresponding to the first location data set and a second transformed data set corresponding to the second location data set;
a sixth determining module, configured to determine, according to the first transformation data set, first transformation information corresponding to the combined navigation;
and the laser radar processing unit is used for determining second transformation information corresponding to the laser radar according to the second transformation data set.
And further, a fourth determining module is used for determining external parameters between the laser radar and the combined navigation according to the preset constraint rule, the first transformation information and the second transformation information.
Further, still include: a seventh determining module, configured to determine error information according to the external parameter, the first positioning data set, and the second positioning data set;
and the repeating module is used for repeating the steps if the error information is outside the preset interval: the method comprises the steps of acquiring second point cloud data acquired by a laser radar in a preset area and a first positioning data set acquired by a combined navigation in the preset area based on track information, determining a second positioning data set corresponding to the laser radar according to the second point cloud data and the track information, determining a target positioning data pair set according to the first positioning data set and the second positioning data set, and determining external parameters between the laser radar and the combined navigation based on the target positioning data pair set until error information is in a preset interval.
Further, the first acquisition module is used for acquiring first point cloud data acquired by the laser radar in a preset area when the vehicle runs at a low speed and at a constant speed in the preset area;
the upper part of the preset area is not blocked and is provided with a plurality of static reference objects, and the running track of the vehicle is a closed track.
Further, the second obtaining module is configured to obtain an initial data set acquired by the integrated navigation in a first coordinate system corresponding to the integrated navigation;
and projecting the initial data set to a second coordinate system based on a conversion rule of the first coordinate system and the second coordinate system to obtain a first positioning data set.
Correspondingly, the embodiment of the present application further provides an electronic device, which includes a processor and a memory, where the memory stores at least one instruction, at least one program, code set, or instruction set, and the at least one instruction, the at least one program, code set, or instruction set is loaded and executed by the processor to implement the method for determining the external parameter between the lidar and the combined navigation.
Accordingly, an embodiment of the present application further provides a computer-readable storage medium, where at least one instruction, at least one program, a code set, or a set of instructions is stored in the storage medium, and the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by a processor to implement the method for determining the out-of-laser-radar and combined navigation external parameters.
The embodiment of the application has the following beneficial effects:
the embodiment of the application discloses a method and a device for determining external parameters between a laser radar and combined navigation, the method comprises the steps of obtaining first point cloud data collected by the laser radar in a preset area, determining track information corresponding to the preset area based on the first point cloud data, obtaining second point cloud data collected by the laser radar in the preset area based on the track information, obtaining a first positioning data set collected by the combined navigation in the preset area, determining a second positioning data set corresponding to the laser radar according to the second point cloud data and the track information, determining a target positioning data pair set according to the first positioning data set and the second positioning data set, and determining the external parameters between the laser radar and the combined navigation based on the target positioning data pair set. The method and the device can avoid the problem that the longitudinal laser radar point cloud in the single-frame laser radar point cloud is too sparse to cause difficulty in feature extraction. And feature points can be prevented from being extracted, so that the calibration result is more stable. In the whole process, manual measurement is not needed, and the characteristic points are not needed to be selected through manual intervention, so that the operation flow can be simplified.
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In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application;
FIG. 2 is a schematic flowchart illustrating a method for determining extrinsic parameters between a lidar and a combined navigation system according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a point cloud map provided in an embodiment of the present application;
FIG. 4 is a flowchart illustrating a method for determining a set of object location data pairs according to an embodiment of the present application;
FIG. 5 is a schematic diagram of determining a set of object location data pairs according to an embodiment of the present application;
FIG. 6 is a schematic diagram of determining error information according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an apparatus for determining an extrinsic parameter between a laser radar and a combined navigation system according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings. It should be apparent that the described embodiment is only one embodiment of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
An "embodiment" as referred to herein relates to a particular feature, structure, or characteristic that may be included in at least one implementation of the present application. In the description of the embodiments of the present application, it should be understood that the terms "first", "second", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in other sequences than described or illustrated herein. Furthermore, the terms "comprises" and "comprising," as well as any variations thereof, are intended to cover non-exclusive inclusions.
Please refer to fig. 1, which is a schematic diagram of an application environment according to an embodiment of the present application, including: the vehicle 100 can be provided with a laser radar 101, a combined navigation system 103 and a server 105, wherein the laser radar 101 can be arranged on the top of the vehicle, the combined navigation system 103 and the server 105 can be arranged on the tail of the vehicle 100, the laser radar 101 can be connected with the server 105 through a wired link or a wireless link, the combined navigation system 103 can be connected with the server 105 through a wired link or a wireless link, and the laser radar 101 is rigidly connected with the combined navigation system 103. The installation of the lidar 101, the combined navigation 103, and the server 105 may also include other forms, and the present application is not particularly limited.
In an optional implementation manner, the server may obtain first point cloud data collected by the laser radar in a preset area, determine track information corresponding to the preset area based on the first point cloud data, further obtain second point cloud data collected by the laser radar in the preset area based on the track information, obtain a first positioning data set collected by the combined navigation in the preset area, then determine a second positioning data set corresponding to the laser radar according to the second point cloud data and the track information, then determine a target positioning data pair set according to the first positioning data set and the second positioning data set, and determine an external parameter between the laser radar and the combined navigation based on the target positioning data pair set.
In the application scenario provided by the embodiment of the application, the track information corresponding to the preset area is determined by acquiring the first point cloud data acquired by the laser radar in the preset area and based on the first point cloud data, namely, the offline laser point cloud map is constructed based on the point cloud data continuously acquired by the laser radar, so that the problem of difficult feature extraction caused by too sparse longitudinal laser radar point cloud in a single-frame laser radar point cloud can be avoided. And the target positioning data pair set and the external parameters are determined according to the first positioning data set and the second positioning data set, namely, the target positioning data pair set and the external parameters are respectively and independently positioned through the laser radar and the combined navigation, and the external parameters are solved based on the relative transformation relation between the laser radar and the combined navigation at the key positioning position, so that feature points can be prevented from being extracted, and a calibration result is more stable. In the whole process, manual measurement is not needed, and the characteristic points are not needed to be selected through manual intervention, so that the operation flow can be simplified.
The following describes a specific embodiment of a method for determining external parameters between lidar and integrated navigation provided by the present application, and fig. 2 is a schematic flowchart of a method for determining external parameters between lidar and integrated navigation provided by an embodiment of the present application, and the present specification provides the method operation steps as shown in the embodiment or flowchart, but may include more or less operation steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is only one of many possible orders of execution and does not represent the only order of execution, and in actual execution, the steps may be performed sequentially or in parallel as in the embodiments or methods shown in the figures (e.g., in the context of parallel processors or multi-threaded processing). Specifically, as shown in fig. 2, the method includes:
s201: and acquiring first point cloud data acquired by the laser radar in a preset area.
In the embodiment of the application, the vehicle can continuously run in the preset area, and the laser radar installed on the vehicle collects the first point cloud data in the preset area, namely the environmental information in the preset area.
In an alternative embodiment, the preset area may be free of shielding, a plurality of static reference objects may be arranged in the preset area, and the driving track of the vehicle may be a closed track. The preset area can be a calibration site such as an urban road or a park road with small traffic flow, so that the requirement of the selected calibration site can be reduced. Also, the field may be one with no obstructions above and with a plurality of static references, for example, with obvious features around the field, such as buildings or trees. During the running process of the vehicle, the vehicle can be controlled to keep uniform speed, low speed and straight line running, and the running track can be in a closed loop such as a Chinese character 'ri' shape or a Chinese character 'kou' shape. Therefore, the accuracy of collecting the first point cloud data can be improved, the precision of the subsequently determined second positioning data set is further improved, satellite data with good signals can be received through combined navigation, and the precision of the subsequently determined first positioning data set is improved.
S203: and determining track information corresponding to the preset area based on the first point cloud data.
In the embodiment of the application, the server can determine the track information corresponding to the preset area based on the first point cloud data collected by the laser radar in the preset area. Namely, a point cloud map can be established based on a loop-back strategy by utilizing first point cloud data acquired by a laser radar. That is, a loop-back strategy can be adopted for detection, so that the quality of the point cloud map is improved. Specifically, before positioning, the vehicle can pass through the historical position again after the vehicle runs through the closed loop in the calibration field, and detection is performed again by using a loop-back strategy, so that an accumulated detection error generated in the closed loop is eliminated. Fig. 3 is a schematic diagram of a point cloud map provided in an embodiment of the present application, which may include environmental information in a preset area, such as traveling tracks of buildings, trees, and vehicles.
S205: and acquiring second point cloud data acquired by the laser radar in the preset area based on the track information, and acquiring a first positioning data set acquired by the combined navigation in the preset area.
In the embodiment of the application, the server can acquire the second point cloud data acquired by the laser radar in the preset area based on the track information, that is, the second point cloud data acquired by the laser radar in the preset area can be acquired based on the loop-back strategy by using the track information. That is, a loop-back strategy can be adopted for detection, so that the accuracy of the second point cloud data acquired by the laser radar is improved. Specifically, when positioning is carried out, the vehicle can continuously run in a closed loop in a calibration field, and second point cloud data in a preset area are collected through the laser radar.
In an optional implementation manner, the second point cloud data may be points in the trajectory information, and specifically, the second point cloud data may be all points of the object corresponding to the first point cloud data, may also be partial points of the object corresponding to the first point cloud data, and may also be points of the object corresponding to the non-first point cloud data.
In the embodiment of the application, when a vehicle runs in a calibration field without shielding at the upper part, the combined navigation can receive satellite data with good signals, and can be in a Real-time kinematic (RTK) positioning mode.
In the embodiment of the application, the server may obtain an initial data set acquired by the integrated navigation in a first coordinate system corresponding to the integrated navigation, and project the initial data set to a second coordinate system based on a conversion rule between the first coordinate system and the second coordinate system to obtain a first positioning data set.
Generally, the initial data set collected by the combined navigation is longitude and latitude data under the geocentric Coordinate System (WGS-84, World geographic System-1984Coordinate), which needs to be converted to the World Coordinate System for convenience of use.
In an alternative embodiment, the first coordinate system may be the geocentric coordinate system and the second coordinate system may be the world coordinate system. That is, the server may project the initial data set in the WGS-84 coordinate system collected by the integrated navigation into the world coordinate system, specifically, may adopt Universal Transverse mercard Projection (UTM), and the conversion formula thereof is as follows:
Y＝K(L-L0)
wherein (X, Y) is coordinate under world coordinate system, (B, L) is latitude and longitude, B0The latitude origin is usually 0, L0The value is typically 0 for the origin of longitude.
S207: and determining a second positioning data set corresponding to the laser radar according to the second point cloud data and the track information.
Laser radar positioning is generally realized based on a robot Simultaneous positioning and Mapping (SLAM) algorithm, the real-time SLAM algorithm is essentially a milemeter, positioning accuracy of the laser radar is gradually reduced along with the time, and if a prior laser point cloud map is restrained, the positioning accuracy can be improved.
Based on this, in the embodiment of the application, the server may criticize the second point cloud data and the track information to obtain a second positioning data set corresponding to the laser radar. The second point cloud data acquired by the laser radar is matched with the prior laser point cloud map to obtain a second positioning data set corresponding to the laser radar.
In the embodiment of the application, the server can perform laser radar real-time positioning based on the SLAM algorithm, and can also perform laser radar real-time positioning based on the Loam algorithm and the Cartographer algorithm.
S209: determining a set of target positioning data pairs according to the first positioning data set and the second positioning data set;
in this embodiment of the application, the server may extract, according to a preset extraction rule, a key point K ═ K from the first positioning data set and/or the second positioning data set according to the first positioning data set corresponding to the combined navigation and the second positioning data set corresponding to the laser radar1,K2,...Kn]N is the number of key points, wherein the extraction rule can be every time, every distance or every certain angle, and then the time alignment rule is based onDetermining positioning data matched with the time of the key point in a positioning data set and/or a second positioning data set to obtain the position and pose pair P of the key point [ P ═ P [ ]1,P2,...Pn]Wherein P isi＝[gi,si]，giFor combining key points, s, in the corresponding first positioning data setiFor the second set of data corresponding to the lidar, the key point, giAnd siThe acquisition time is the same.
In this embodiment of the present application, the following method may be adopted to determine the set of object location data pairs, and fig. 4 is a flowchart illustrating a method for determining the set of object location data pairs according to this embodiment of the present application. As shown in fig. 4:
s401: and determining a positioning data set to be matched from the first positioning data set and/or the second positioning data set based on a preset time interval, a preset angle or a preset distance.
S403: determining a set of target positioning data pairs according to the set of positioning data to be matched, the first positioning data set and the second positioning data set; each object positioning data pair comprises first positioning data and second positioning data with the same acquisition time.
In an optional implementation manner, the server may determine, from the first positioning data set, a to-be-matched positioning data set based on a preset time interval, a preset angle, or a preset distance, and then determine, from the second positioning data set, second positioning data that is the same as the acquisition time of each to-be-matched positioning data in the to-be-matched positioning data set, to obtain a target positioning data pair set. Specifically, a key point g may be determined from a first positioning data set corresponding to the combined navigation1And then another key point g is determined every 5s2Or another key point g can be determined every 5 meters2Another key point g can be determined every 5 degrees of angle difference2. Then, second positioning data s with the same acquisition time as each key point is determined from a second positioning data set corresponding to the laser radar1、s2. It is to be noted that s1、s2Must be the same but not necessarily 5 meters apart or at an angular difference of 5 deg..
In another optional implementation manner, the server may determine, based on a preset time interval, a preset angle, or a preset distance, a to-be-matched positioning data set from the second positioning data set, and then determine, from the first positioning data set, first positioning data having the same acquisition time as each to-be-matched positioning data in the to-be-matched positioning data set, to obtain a target positioning data pair set. The specific implementation steps of this embodiment correspond to the specific implementation steps of the above-described alternative embodiments, and are not described here again.
In another optional embodiment, the server may determine, based on a preset time interval, a preset angle, or a preset distance, a first set of to-be-matched positioning data from the first positioning data, and a second set of to-be-matched positioning data from the second positioning data, and then determine, from the second set of positioning data, the first positioning data that is the same as the acquisition time of each first to-be-matched positioning data in the first set of to-be-matched positioning data, and determine, from the first set of positioning data, the second positioning data that is the same as the acquisition time of each second to-be-matched positioning data in the second set of to-be-matched positioning data, to obtain the set of target positioning data pairs. Fig. 5 is a schematic diagram of determining a set of object location data pairs according to an embodiment of the present application. In the figure, 501 is a first positioning data set corresponding to the combined navigation, 503 is a second positioning data set corresponding to the laser radar, and the circled portion is a positioning data set to be matched, i.e. a key point.
S211: and determining an external parameter between the laser radar and the combined navigation based on the set of object positioning data pairs.
In this embodiment of the application, before the server determines the external parameters of the laser radar and the combined navigation key based on the set of target positioning data pairs, the server may determine, based on the set of target positioning data pairs, a first transformation data set corresponding to the first positioning data set and a second transformation data set corresponding to the second positioning data set, and then may determine, according to the first transformation data set, first transformation information corresponding to the combined navigation, and determine, according to the second transformation data set, second transformation information corresponding to the laser radar.
That is, the server may determine a transformation matrix corresponding to the set of object location data pairs based on the set of object location data pairs. Namely, based on the pose pairs of the key points, the transformation information, namely the transformation matrix, of the first positioning data corresponding to the combined navigation can be determined, and the transformation information, namely the transformation matrix, of the second positioning data corresponding to the laser radar can be determined. The transformation matrix of the first positioning data corresponding to the combined navigation may be represented by G, and the transformation matrix of the second positioning data corresponding to the laser radar may be represented by S, which is specifically represented as follows:
wherein, gi,jRepresenting the transformation matrix, s, from the ith to the jth keypointi,jA transformation matrix representing the ith to jth keypoint.
In this embodiment of the application, after determining the first transformation information corresponding to the combined navigation and the second transformation information corresponding to the laser radar, the server may determine the external parameter between the laser radar and the combined navigation according to a preset constraint rule, where the first transformation information is a transformation matrix of the first positioning data corresponding to the combined navigation, and the second transformation information is a transformation matrix of the second positioning data corresponding to the laser radar.
In a specific embodiment, the preset constraint rule may be GR ═ RS, where R denotes an external parameter between the lidar and the integrated navigation.
In the embodiment of the application, after the external parameter between the laser radar and the combined navigation is determined, the server can determine the error information according to the external parameter, the first positioning data set and the second positioning data set. That is, based on the determined external parameter matrix R, the second positioning data set corresponding to the laser radar is projected into a coordinate system corresponding to the integrated navigation, for example, a world coordinate system, to obtain the error information. Or projecting the first positioning data corresponding to the combined navigation to the coordinate corresponding to the laser radar to obtain error information. The error information may be the logarithm of two corresponding coincident positioning points in the first positioning data set and the second positioning data set, or the coincidence degree of the track corresponding to the first positioning data set and the track corresponding to the second positioning data set. Fig. 6 is a schematic diagram of determining error information according to an embodiment of the present application. In fig. 6, the track corresponding to the first positioning data set substantially coincides with the track corresponding to the second positioning data set, which shows that the external parameter is within the allowable range, i.e. within the preset interval. If the error information is outside the preset interval, repeating the following steps: the method comprises the steps of acquiring second point cloud data acquired by a laser radar in a preset area and a first positioning data set acquired by a combined navigation in the preset area based on track information, determining a second positioning data set corresponding to the laser radar according to the second point cloud data and the track information, determining a target positioning data pair set according to the first positioning data set and the second positioning data set, and determining an external parameter between the laser radar and the combined navigation based on the target positioning data pair set until error information is in a preset interval.
By adopting the method for determining the external parameters between the laser radar and the combined navigation, the problem of difficult feature extraction caused by over-sparse longitudinal laser radar point cloud in single-frame laser radar point cloud can be solved by acquiring the first point cloud data acquired by the laser radar in the preset area, and determining the track information corresponding to the preset area based on the first point cloud data, namely constructing an off-line laser point cloud map based on the point cloud data continuously acquired by the laser radar. And the target positioning data pair set and the external parameters are determined according to the first positioning data set and the second positioning data set, namely, the target positioning data pair set and the external parameters are respectively and independently positioned through the laser radar and the combined navigation, and the external parameters are solved based on the relative transformation relation between the laser radar and the combined navigation at the key positioning position, so that feature points can be prevented from being extracted, and a calibration result is more stable. In the whole process, manual measurement is not needed, and the characteristic points are not needed to be selected through manual intervention, so that the operation flow can be simplified.
Fig. 7 is a schematic structural diagram of the apparatus for determining extrinsic parameters between a laser radar and combined navigation provided in the embodiment of the present application, and as shown in fig. 7, the apparatus may include:
the first acquisition module 701 is used for acquiring first point cloud data acquired by a laser radar in a preset area;
the first determining module 703 is configured to determine, based on the first point cloud data, trajectory information corresponding to a preset area;
the second obtaining module 705 is configured to obtain second point cloud data collected by the laser radar in the preset area based on the track information, and obtain a first positioning data set collected by the combined navigation in the preset area;
the second determining module 707 is configured to determine a second positioning data set according to the second point cloud data and the track information;
the third determining module 709 is configured to determine a set of object location data pairs according to the first location data set and the second location data set;
the fourth determination module 711 is configured to determine an extrinsic parameter between the lidar and the integrated navigation based on the set of object-location data pairs.
In an embodiment of the present application, the third determining module is configured to determine, based on a preset time interval, a preset angle, or a preset distance, a positioning data set to be matched from the first positioning data set and/or the second positioning data set;
determining a set of target positioning data pairs according to the set of positioning data to be matched, the first positioning data set and the second positioning data set; each target positioning data pair comprises first positioning data and second positioning data which are determined from the first positioning data set and the second positioning data set and have the same acquisition time.
In this embodiment, the apparatus may further include: a fifth determining module, configured to determine, based on the set of object location data pairs, a first transformed data set corresponding to the first location data set and a second transformed data set corresponding to the second location data set;
a sixth determining module, configured to determine, according to the first transformation data set, first transformation information corresponding to the combined navigation; and the laser radar processing unit is used for determining second transformation information corresponding to the laser radar according to the second transformation data set.
In an embodiment of the application, the fourth determining module is configured to determine an external parameter between the laser radar and the combined navigation according to the first transformation information and the second transformation information.
In an embodiment of the application, the third determining module is configured to determine a positioning data set to be matched from the first positioning data set based on a preset time interval, a preset angle, or a preset distance; and the device is used for determining second positioning data with the same acquisition time as each to-be-matched positioning data in the to-be-matched positioning data set from the second positioning data set to obtain a target positioning data pair set.
In an embodiment of the application, the third determining module is configured to determine a positioning data set to be matched from the second positioning data set based on a preset time interval, a preset angle, or a preset distance; the method is used for determining first positioning data with the same acquisition time as each to-be-matched positioning data in the to-be-matched positioning data set from the first positioning data set to obtain a target positioning data pair set.
In an embodiment of the present application, the third determining module is configured to determine, based on a preset time interval, a preset angle, or a preset distance, a first set of to-be-matched positioning data from the first positioning data, and determine a second set of to-be-matched positioning data from the second positioning data; the method is used for determining first positioning data with the same acquisition time as each first to-be-matched positioning data in a first to-be-matched positioning data set from a second positioning data set, determining second positioning data with the same acquisition time as each second to-be-matched positioning data in a second to-be-matched positioning data set from the first positioning data set, and obtaining a target positioning data pair set.
In this embodiment, the apparatus may further include: the seventh determining module is used for determining error information according to the external parameter, the first positioning data and the second positioning data;
and the repeating module is used for repeating the steps if the error information is outside the preset interval: the method comprises the steps of acquiring second point cloud data acquired by a laser radar in a preset area based on track information, acquiring a first positioning data set acquired by a combined navigation in the preset area, determining a second positioning data set corresponding to the laser radar according to the second point cloud data and the track information, determining a target positioning data pair set according to the first positioning data set and the second positioning data set, and determining external parameters between the laser radar and the combined navigation based on the target positioning data pair set until error information is in a preset interval.
In the embodiment of the application, the first acquisition module is used for acquiring first point cloud data acquired by a laser radar in a preset area when a vehicle runs at a low speed and a constant speed in the preset area;
the upper part of the preset area is not blocked and is provided with a plurality of static reference objects, and the running track of the vehicle is a closed track.
In the embodiment of the application, the first obtaining module is used for obtaining an initial data set collected by the integrated navigation in a first coordinate system corresponding to the integrated navigation;
and projecting the initial data set to a second coordinate system based on a conversion rule of the first coordinate system and the second coordinate system to obtain a first positioning data set.
The device and method embodiments in the embodiments of the present application are based on the same application concept.
By adopting the device for determining the external parameters between the laser radar and the combined navigation, the problem of difficult feature extraction caused by over-sparse longitudinal laser radar point cloud in single-frame laser radar point cloud can be solved by acquiring the first point cloud data acquired by the laser radar in the preset area, and determining the track information corresponding to the preset area based on the first point cloud data, namely constructing an off-line laser point cloud map based on the point cloud data continuously acquired by the laser radar. And the target positioning data pair set and the external parameters are determined according to the first positioning data set and the second positioning data set, namely, the target positioning data pair set and the external parameters are respectively and independently positioned through the laser radar and the combined navigation, and the external parameters are solved based on the relative transformation relation between the laser radar and the combined navigation at the key positioning position, so that feature points can be prevented from being extracted, and a calibration result is more stable. In the whole process, manual measurement is not needed, and the characteristic points are not needed to be selected through manual intervention, so that the operation flow can be simplified.
The present invention further provides an electronic device, which may be disposed in a server to store at least one instruction, at least one program, a code set, or a set of instructions related to a method for determining an external parameter between a laser radar and a combined navigation in an embodiment of the method, where the at least one instruction, the at least one program, the code set, or the set of instructions are loaded from the memory and executed to implement the method for determining the external parameter between the laser radar and the combined navigation.
The present invention further provides a storage medium, which may be disposed in a server to store at least one instruction, at least one program, a code set, or a set of instructions related to implementing the method for determining external parameters between lidar and combined navigation in the method embodiments, where the at least one instruction, the at least one program, the code set, or the set of instructions are loaded and executed by the processor to implement the method for determining external parameters between lidar and combined navigation.
Optionally, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, a storage medium including: various media that can store program codes, such as a usb disk, a Read-only Memory (ROM), a removable hard disk, a magnetic disk, or an optical disk.
The method comprises the steps of obtaining first point cloud data collected by a laser radar in a preset area, determining track information corresponding to the preset area based on the first point cloud data, obtaining second point cloud data collected by the laser radar in the preset area based on the track information, obtaining a first positioning data set collected by a combined navigation in the preset area, determining a second positioning data set corresponding to the laser radar according to the second point cloud data and the track information, determining a target positioning data pair set according to the first positioning data set and the second positioning data set, and determining the external parameters between the laser radar and the combined navigation based on the target positioning data pair set. The method and the device can avoid the problem that the longitudinal laser radar point cloud in the single-frame laser radar point cloud is too sparse to cause difficulty in feature extraction. And feature points can be prevented from being extracted, so that the calibration result is more stable. In the whole process, manual measurement is not needed, and the characteristic points are not needed to be selected through manual intervention, so that the operation flow can be simplified.
It should be noted that: the foregoing sequence of the embodiments of the present application is for description only and does not represent the superiority and inferiority of the embodiments, and the specific embodiments are described in the specification, and other embodiments are also within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in the order of execution in different embodiments and achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown or connected to enable the desired results to be achieved, and in some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
All the embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment is described with emphasis on differences from other embodiments. Especially, for the embodiment of the device, since it is based on the embodiment similar to the method, the description is simple, and the relevant points can be referred to the partial description of the method embodiment.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (16)
1. A method for determining external parameters between a laser radar and integrated navigation is characterized by comprising the following steps:
acquiring first point cloud data acquired by a laser radar in a preset area;
determining track information corresponding to the preset area based on the first point cloud data;
acquiring second point cloud data acquired by the laser radar in the preset area based on the track information, and acquiring a first positioning data set acquired by combined navigation in the preset area;
determining a second positioning data set corresponding to the laser radar according to the second point cloud data and the track information;
determining a set of object positioning data pairs according to the first positioning data set and the second positioning data set;
determining an extrinsic parameter between the lidar and the integrated navigation based on the set of object location data pairs.
2. The method of claim 1, wherein determining a set of object location data pairs from the first set of location data and the second set of location data comprises:
determining a positioning data set to be matched from the first positioning data set and/or the second positioning data set based on a preset time interval, a preset angle or a preset distance;
determining the set of target positioning data pairs according to the set of to-be-matched positioning data, the first positioning data set and the second positioning data set; each target positioning data pair comprises first positioning data and second positioning data which are determined from the first positioning data set and the second positioning data set and have the same acquisition time.
3. The method of claim 1, wherein prior to determining the extrinsic parameters between the lidar and the combined navigation based on the set of object location data pairs, further comprising:
determining a first set of transformed data corresponding to the first set of positioning data and a second set of transformed data corresponding to the second set of positioning data based on the set of object positioning data pairs;
determining first transformation information corresponding to the integrated navigation according to the first transformation data set;
and determining second transformation information corresponding to the laser radar according to the second transformation data set.
4. The method of claim 3, wherein determining the extrinsic parameters between the lidar and the combined navigation based on the set of object location data pairs comprises:
and determining the external parameters between the laser radar and the combined navigation according to a preset constraint rule, the first transformation information and the second transformation information.
5. The method of claim 1, wherein after determining the extrinsic parameters between the lidar and the combined navigation based on the set of object location data pairs, further comprising:
determining error information according to the external parameter, the first positioning data set and the second positioning data set;
if the error information is outside the preset interval, repeating the following steps: based on the track information, second point cloud data collected by the laser radar in the preset area and a first positioning data set collected by the combined navigation in the preset area are obtained, according to the second point cloud data and the track information, a second positioning data set corresponding to the laser radar is determined, according to the first positioning data set and the second positioning data set, a target positioning data pair set is determined, and based on the target positioning data pair set, external parameters between the laser radar and the combined navigation are determined until the error information is in the preset interval.
6. The method of claim 1, wherein the acquiring first point cloud data collected by the lidar in a preset area comprises:
when the vehicle is in a low speed and runs in the preset area at a constant speed, acquiring the first point cloud data collected by the laser radar in the preset area;
the upper part of the preset area is not blocked and is provided with a plurality of static reference objects, and the running track of the vehicle is a closed track.
7. The method of claim 1, wherein obtaining the first positioning data set acquired by the combined navigation in the preset area comprises:
acquiring an initial data set acquired by the integrated navigation in a first coordinate system corresponding to the integrated navigation;
and projecting the initial data set to the second coordinate system based on a conversion rule of the first coordinate system and the second coordinate system to obtain the first positioning data set.
8. An apparatus for determining extrinsic parameters between a lidar and a combined navigation, comprising:
the first acquisition module is used for acquiring first point cloud data acquired by the laser radar in a preset area;
the first determining module is used for determining track information corresponding to the preset area based on the first point cloud data;
the second acquisition module is used for acquiring second point cloud data acquired by the laser radar in the preset area based on the track information and acquiring a first positioning data set acquired by combined navigation in the preset area;
the second determining module is used for determining a second positioning data set according to the second point cloud data and the track information;
a third determining module, configured to determine a set of target positioning data pairs according to the first positioning data set and the second positioning data set;
a fourth determining module, configured to determine an external parameter between the lidar and the integrated navigation based on the set of object location data pairs.
9. The apparatus of claim 8,
the third determining module is configured to determine a positioning data set to be matched from the first positioning data set and/or the second positioning data set based on a preset time interval, a preset angle, or a preset distance;
determining the set of target positioning data pairs according to the set of to-be-matched positioning data, the first positioning data set and the second positioning data set; each target positioning data pair comprises first positioning data and second positioning data which are determined from the first positioning data set and the second positioning data set and have the same acquisition time.
10. The apparatus of claim 8, further comprising:
a fifth determining module, configured to determine, based on the set of object location data pairs, a first set of transformed data corresponding to the first set of location data and a second set of transformed data corresponding to the second set of location data;
a sixth determining module, configured to determine, according to the first transformation data set, first transformation information corresponding to the integrated navigation;
and the laser radar processing unit is used for determining second transformation information corresponding to the laser radar according to the second transformation data set.
11. The apparatus of claim 10,
the fourth determining module is configured to determine the external parameter between the laser radar and the integrated navigation according to a preset constraint rule, the first transformation information, and the second transformation information.
12. The apparatus of claim 8, further comprising:
a seventh determining module, configured to determine error information according to the external parameter, the first positioning data, and the second positioning data;
a repeating module, configured to repeat the steps if the error information is outside a preset interval: based on the track information, second point cloud data collected by the laser radar in the preset area and a first positioning data set collected by the combined navigation in the preset area are obtained, according to the second point cloud data and the track information, a second positioning data set corresponding to the laser radar is determined, according to the first positioning data set and the second positioning data set, a target positioning data pair set is determined, and based on the target positioning data pair set, external parameters between the laser radar and the combined navigation are determined until the error information is in the preset interval.
13. The apparatus of claim 8,
the first acquisition module is used for acquiring the first point cloud data acquired by the laser radar in the preset area when the vehicle runs at a low speed and at a constant speed in the preset area;
the upper part of the preset area is not blocked and is provided with a plurality of static reference objects, and the running track of the vehicle is a closed track.
14. The apparatus of claim 8,
the second obtaining module is configured to obtain an initial data set acquired by the integrated navigation in a first coordinate system corresponding to the integrated navigation;
and projecting the initial data set to the second coordinate system based on a conversion rule of the first coordinate system and the second coordinate system to obtain the first positioning data set.
15. An electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, which are loaded and executed by the processor to implement the method for determining an out-of-lidar and combined-navigation parameter according to any of claims 1-7.
16. A computer readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to implement the method of determining an out-of-lidar and combined-navigation parameter of any of claims 1-7.
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