CN116359889A - Laser radar calibration method, device and equipment - Google Patents
Laser radar calibration method, device and equipment 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S7/4972—Alignment of sensor
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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
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4808—Evaluating distance, position or velocity data
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Abstract
According to the laser radar calibration method, the first center point coordinates and the second center point coordinates of N reference targets corresponding to the N reference targets respectively under the vehicle body coordinate system are determined, when the N reference targets are placed in a straight line along the Y axis, the center point coordinates of the N reference targets are the center point coordinates of the reference targets, when the N reference targets are placed in a straight line along the X axis, the placement heights of the N reference targets are the same, N is greater than or equal to 3, the pitch angle and the yaw angle are determined according to the first center point coordinates of the reference targets, and the rolling angle is determined according to the second center point coordinates of the reference targets.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a laser radar calibration method, device and equipment.
Background
In the current field of autopilot, especially high-level autopilot, most systems employ lidar as an input for commonly used sensor signals.
After the laser radar device is installed on the vehicle, external parameters of the sensor need to be calibrated, namely, the relation between the self coordinate system of the laser radar and the vehicle body coordinate system is determined, so that the acquired laser radar data can be converted from the laser radar into the vehicle body coordinate system. The traditional calibration method comprises the following steps: and placing a reference object in front of the laser radar, displaying a point cloud image of the reference object through an upper computer, and manually and continuously correcting calibration parameters through a calibration engineer to enable the reference object to be parallel to a corresponding coordinate axis, thereby completing the calibration process.
The laser radar calibration method needs a certain experience of a calibration engineer, and a process of continuously correcting calibration parameters manually needs a lot of time, so that the problems of low calibration accuracy and efficiency exist.
Disclosure of Invention
The invention provides a laser radar calibration method, device and equipment, which are used for solving the problems of lower calibration accuracy and efficiency in the prior art.
In a first aspect, the present invention provides a laser radar calibration method, the method being applied to a laser radar calibration device, the method comprising:
determining first center point coordinates and second center point coordinates of N reference targets corresponding to the N reference targets in a vehicle body coordinate system; the first center point coordinates are the center point coordinates of each reference object when N reference objects are placed in a straight line along the Y axis; the second center point coordinates are the center point coordinates of each reference object when N reference objects are placed in a straight line along the X axis; the placement heights of the N reference targets are the same; n is more than or equal to 3;
Determining a pitch angle and a yaw angle according to the first center point coordinates of each reference object, and determining a roll angle according to the second center point coordinates of each reference object; the Y axis is the vehicle advancing direction; the Z axis is in an upward direction perpendicular to the ground; the X axis is the corresponding direction of the right side of the vehicle when the vehicle runs forwards.
Optionally, the reference object is a triangular reflecting cone;
when the N reference objects are arranged in a straight line along the X axis or the Y axis, the intervals between every two adjacent reference objects are different; the method further comprises the steps of:
and determining the number of the reference targets and the intervals among all the N reference targets according to the calibration precision requirement of the vehicle to be calibrated and/or the type of the vehicle to be calibrated.
Optionally, the method further comprises:
receiving the installation information of the laser radar input by a user;
correspondingly, the determining the first center point coordinates of the N reference objects corresponding to the vehicle body coordinate system includes:
according to the installation information of the laser radar, determining a plurality of contour point coordinates corresponding to each reference object under the vehicle body coordinate system; the installation information is used for representing the installation position information of the laser radar under the vehicle body coordinate system;
And determining first center point coordinates of each reference object under the vehicle body coordinate system according to the contour point coordinates.
Optionally, determining, according to the installation information of the lidar, a plurality of profile point coordinates corresponding to each reference object in the vehicle body coordinate system, includes:
receiving point cloud data sent by a laser radar, and converting the point cloud data into point cloud data under the vehicle body coordinate system according to the installation information of the laser radar;
determining point cloud data of interest from the converted point cloud data;
and clustering the point cloud data of interest to determine the point cloud data meeting preset conditions as the same reference object, and determining a plurality of contour point coordinates corresponding to each reference object.
Optionally, the method further comprises:
receiving actual placement information of each reference object input by a user;
accordingly, determining the point cloud data of interest from the converted point cloud data includes:
according to the actual placement information of each reference object, determining the corresponding data processing range of the N reference objects in the placement mode corresponding to the actual placement information;
And removing the point cloud data outside the data processing range from the acquired point cloud data to obtain the point cloud data of interest.
Optionally, the clustering operation on the point cloud data of interest includes:
performing binarization processing on the point cloud data of interest to obtain a binarized grid image; the grid of the point cloud data corresponds to a value of 1; the data corresponding to the grid without point cloud data is 0; each grid comprising at least one pixel;
and respectively determining pixels corresponding to a plurality of grids of the point cloud data in the binarized grid image as a plurality of reference targets based on a connected region marking algorithm.
Optionally, N is 3; a set of reference targets comprising two reference targets; determining pitch angles from first center point coordinates of respective reference targets, comprising:
determining the height difference and the longitudinal distance difference corresponding to the two or three groups of reference targets respectively;
determining a plurality of initial pitch angles according to the height difference and the longitudinal distance difference corresponding to each group of reference targets, and determining the pitch angles according to the plurality of initial pitch angles; the longitudinal distance difference represents a distance difference in the Y-axis direction; and/or the number of the groups of groups,
Determining a yaw angle from the first center point coordinates of each reference object, comprising:
determining transverse distance differences and longitudinal distance differences corresponding to the two or three groups of reference targets respectively;
determining a plurality of initial yaw angles according to the transverse distance difference and the longitudinal distance difference respectively corresponding to each group of reference targets, and determining the yaw angles according to the plurality of initial yaw angles; and/or the number of the groups of groups,
determining the roll angle from the second center point coordinates of each reference object, comprising:
determining the height difference and the transverse distance difference corresponding to the two or three groups of reference targets respectively;
and determining a plurality of initial rolling angles according to the height difference and the transverse distance difference which are respectively corresponding to the reference targets in each group, and determining the rolling angles according to the initial rolling angles.
Optionally, determining a plurality of initial pitch angles according to the height difference and the longitudinal distance difference respectively corresponding to each group of reference targets includes:
for a group of reference targets, calculating a first quotient of the corresponding height difference and the longitudinal distance difference;
acquiring a first arctangent result corresponding to the first quotient, wherein the first arctangent result is the initial pitch angle; and/or the number of the groups of groups,
determining a plurality of initial yaw angles from the respective corresponding lateral and longitudinal distance differences for each set of reference targets, comprising:
Calculating a second quotient of the corresponding lateral distance difference and longitudinal distance difference for a set of reference targets;
acquiring a second arctangent result corresponding to the second quotient, wherein the second arctangent result is the initial yaw angle; and/or the number of the groups of groups,
determining a plurality of initial roll angles according to the height differences and the transverse distance differences respectively corresponding to the groups of reference targets, wherein the method comprises the following steps:
calculating a third quotient of the corresponding height difference and the transverse distance difference for a group of reference targets;
and obtaining a third tangent result corresponding to the third quotient, wherein the third tangent result is the initial rolling angle.
In a second aspect, the present invention provides a laser radar calibration apparatus for a laser radar calibration device, the apparatus comprising:
the first determining module is used for determining first center point coordinates and second center point coordinates of N reference targets corresponding to the N reference targets in a vehicle body coordinate system respectively; the first center point coordinates are the center point coordinates of each reference object when N reference objects are placed in a straight line along the Y axis; the second center point coordinates are the center point coordinates of each reference object when N reference objects are placed in a straight line along the X axis; the placement heights of the N reference targets are the same; n is more than or equal to 3;
The second determining module is used for determining a pitch angle and a yaw angle according to the first center point coordinates of each reference object and determining a rolling angle according to the second center point coordinates of each reference object; the Y axis is the vehicle advancing direction; the Z axis is in an upward direction perpendicular to the ground; the X axis is the corresponding direction of the right side of the vehicle when the vehicle runs forwards.
In a third aspect, the present invention provides an electronic device comprising: at least one processor and memory;
the memory stores computer-executable instructions;
at least one processor executes computer-executable instructions stored in a memory, causing the at least one processor to perform the method as in any one of the first aspects.
According to the laser radar calibration method, device and equipment provided by the invention, the first center point coordinates and the second center point coordinates respectively corresponding to N reference targets under a vehicle body coordinate system are determined; the first center point coordinates are the center point coordinates of each reference object when N reference objects are placed in a straight line along the Y axis; the second center point coordinates are the center point coordinates of each reference object when N reference objects are placed in a straight line along the X axis; the placement heights of the N reference targets are the same; n is more than or equal to 3; determining a pitch angle and a yaw angle according to the first center point coordinates of each reference object, and determining a roll angle according to the second center point coordinates of each reference object; the Y axis is the vehicle advancing direction; the Z axis is in an upward direction perpendicular to the ground; the X axis is the direction corresponding to the right side of the vehicle when the vehicle runs forwards, and the method realizes the external parameter calibration of the laser radar by automatically identifying the reference object placed according to a preset mode, does not need manual calibration, and improves the calibration speed and accuracy.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a laser radar calibration method according to an embodiment of the present invention;
FIG. 3 is a schematic view of a reference object according to an embodiment of the present invention in a straight line along a Y axis;
FIG. 4 is a schematic view of a reference object according to an embodiment of the present invention in a straight line along an X axis;
FIG. 5 is a schematic flow chart of a method for determining a contour point of a reference object according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of converting spherical coordinates according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a laser radar calibration device according to an embodiment of the present invention;
fig. 8 is a schematic hardware structure of an electronic device according to an embodiment of the present invention.
Specific embodiments of the present invention have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention.
After the laser radar equipment is installed and deployed on a vehicle, external parameters of the sensor need to be calibrated. The external parameter calibration refers to establishing a relative coordinate relation between the laser radar and the vehicle, so that the acquired laser radar data is converted into a vehicle body coordinate system from the laser radar coordinate system. Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present invention, where three pieces of angle information, namely a pitch angle, a yaw angle and a roll angle, need to be determined as shown in fig. 1.
The traditional calibration method is to display point cloud images of obstacles and road surfaces through an upper computer, place a reference object in front of a laser radar or take a surrounding fixed object as a reference, and continuously correct calibration parameters manually to enable the reference object to be parallel to a corresponding coordinate axis, thereby completing the calibration process. However, the manual calibration process is cumbersome and has low accuracy and efficiency.
Based on the problems, the laser radar can automatically acquire the point cloud data of each reference object by placing the reference objects in a certain sequence, the radar calibration equipment can process the point cloud data, and the included angles between the two reference objects and the corresponding coordinate axes are acquired by performing straight line fitting on the identification results of the reference objects, so that each angle value is determined.
Fig. 2 is a schematic flow chart of a laser radar calibration method according to an embodiment of the present invention, where the method is applied to a laser radar calibration device, as shown in fig. 2, and the method includes steps S201 to S203:
step S201, determining first center point coordinates and second center point coordinates of N reference objects corresponding to each other in the vehicle body coordinate system.
The first center point coordinates are the center point coordinates of each reference object when N reference objects are placed in a straight line along the Y axis; the second center point coordinates are the center point coordinates of each reference object when N reference objects are placed in a straight line along the X axis; the placement heights of the N reference targets are the same; and N is more than or equal to 3.
In the current automatic driving field, a laser radar can be generally arranged on a vehicle, and data acquired by the laser radar is input as a common sensor signal. The lidar may be positioned anywhere on the vehicle such that the lidar may better sense obstacles. The laser radar has a coordinate system, the vehicle also has a vehicle body coordinate system, and a relative coordinate relation between the laser radar and the vehicle body needs to be established, so that data acquired by the laser radar can be converted from the laser radar coordinate system into the vehicle body coordinate system.
Wherein, not only the rotation angle deviation, but also the translation deviation may exist between the coordinate system corresponding to the laser radar and the vehicle body coordinate system. The translational deviation may be measured by a tool, so that mainly the rotation angle error is determined.
By setting N reference targets, placing the N reference targets in a certain sequence, the laser radar automatically acquires the coordinates of the central points of the N reference targets, so that three rotation angle errors can be determined based on the coordinates of the central points.
Step S202, a pitch angle and a yaw angle are determined according to the first center point coordinates of each reference object, and a roll angle is determined according to the second center point coordinates of each reference object.
The Y axis is the vehicle advancing direction; the Z axis is in an upward direction perpendicular to the ground; the X axis is the corresponding direction of the right side of the vehicle when the vehicle runs forwards.
The rotation angle deviation includes a pitch angle indicating an angle of rotation about the X-axis, a yaw angle indicating an angle of rotation about the Y-axis, and a roll angle indicating an angle of rotation about the Z-axis.
Fig. 3 is a schematic diagram of a reference object in a straight line along a Y axis, as shown in fig. 3, where a first center coordinate point is a coordinate point corresponding to each of N reference objects in a straight line along the Y axis, and when there is no angular deviation of pitch angle, heights of the N reference objects are the same, so that the pitch angle can be determined based on the coordinates of the first center points of the N reference objects. Also, when there is no angular deviation of the yaw angle, the lateral distances of the N reference objects are the same, and thus, the yaw angle can be determined based on the first center point coordinates of the N reference objects.
Fig. 4 is a schematic diagram of a reference object in a straight line along an X axis according to an embodiment of the present invention, as shown in fig. 4, the second center coordinate point is a coordinate point corresponding to each of N reference objects in a straight line along the X axis, and when there is no angular deviation of the roll angle, the longitudinal distances of the N reference objects are the same, so that the roll angle can be determined based on the coordinates of the second center points of the N reference objects.
Wherein, the number of N is at least 3, when N is larger, the more the obtained point cloud data is, the more the data can be used for determining the rotation angle deviation is, and therefore, the higher the accuracy of the calculated result is.
According to the laser radar calibration method provided by the invention, the first center point coordinates and the second center point coordinates corresponding to N reference targets respectively under a vehicle body coordinate system are determined; the first center point coordinates are the center point coordinates of each reference object when N reference objects are placed in a straight line along the Y axis; the second center point coordinates are the center point coordinates of each reference object when N reference objects are placed in a straight line along the X axis; the placement heights of the N reference targets are the same; n is more than or equal to 3; determining a pitch angle and a yaw angle according to the first center point coordinates of each reference object, and determining a roll angle according to the second center point coordinates of each reference object; the Y axis is the vehicle advancing direction; the Z axis is in an upward direction perpendicular to the ground; the X axis is the direction corresponding to the right side of the vehicle when the vehicle runs forwards, and the method realizes the external parameter calibration of the laser radar by automatically identifying the reference object placed according to a preset mode, does not need manual calibration, and improves the calibration speed and accuracy.
Optionally, the reference object is a triangular reflecting cone; when the N reference objects are arranged in a straight line along the X axis or the Y axis, the intervals between every two adjacent reference objects are different; the method further comprises the steps of:
and determining the number of the reference targets and the intervals among all the N reference targets according to the calibration precision requirement of the vehicle to be calibrated and/or the type of the vehicle to be calibrated.
The reference object used herein may be a triangular reflecting cone, which is helpful for the laser radar to accurately obtain the contour point of the reference object.
The spacing between the individual reference targets may be different. For example, when three reference targets are present, the separation between the first reference target and the second reference target may be 3.5 meters and the separation between the second reference target and the third reference target may be 5.5 meters.
When the intervals among the reference targets are different, the calibration accuracy can be improved; when the number of the reference objects is larger, the calibration accuracy can be improved. I.e. the greater the number of reference objects and/or the greater the difference in spacing between the individual reference objects, the higher the calibration accuracy, but the lower the efficiency of the calibration.
In addition, the requirements of different classes of vehicles to be calibrated on the number of reference objects and the intervals between the reference objects are also different.
Thus, the number of reference targets and the spacing between the reference targets may be determined based on the accuracy requirements of the vehicle to be calibrated and the class of vehicle to be calibrated.
According to the calibration precision requirement of the vehicle to be calibrated and the type of the vehicle, the number of the reference targets and the intervals among the reference targets can be flexibly determined, so that the requirement of the calibration precision and the calibration efficiency can be met.
Optionally, the method further comprises,
receiving the installation information of the laser radar input by a user;
correspondingly, the determining the first center point coordinates of the N reference objects corresponding to the vehicle body coordinate system includes:
according to the installation information of the laser radar, determining a plurality of contour point coordinates corresponding to each reference object under the vehicle body coordinate system; the installation information is used for representing the installation position information of the laser radar under the vehicle body coordinate system; and determining first center point coordinates of each reference object under the vehicle body coordinate system according to the contour point coordinates.
Before calibrating the laser radar, the laser type may be installed on the vehicle to be calibrated. In order to enable the laser radar to acquire the point cloud data better in the installation process, the laser radar can be arranged at any position of the vehicle at any angle. Therefore, there may be not only a rotation angle deviation but also a translational deviation between the coordinate system corresponding to the lidar and the vehicle body coordinate system. The translational misalignment can be measured by a measuring tool such as a laser rangefinder.
Specifically, the installation information here represents a translational deviation, the installation information includes an installation height, a lateral distance, and a longitudinal distance, and the installation information here represents information of an installation position of the laser radar with respect to a vehicle body coordinate system. The mounting height refers to the height relative to the vehicle body coordinate system, the lateral distance refers to the lateral distance relative to the vehicle body coordinate system, and the longitudinal distance refers to the longitudinal distance relative to the vehicle body coordinate system.
When the user acquires the installation information, the installation information can be input into the laser radar calibration device.
Because the data acquired by the laser radar is based on the data of the laser radar coordinate system, when the rotation angle deviation of the laser radar relative to the vehicle body coordinate system is determined, the data acquired by the laser radar can be converted based on the installation information so as to accurately determine the rotation angle deviation.
Specifically, by converting the point cloud data acquired by the laser radar, the contour point coordinates of each reference object under the vehicle body coordinate system can be acquired. So that the first center point coordinates of the reference object can be determined based on the contour point coordinates in the vehicle body coordinate system. Alternatively, the vehicle body coordinate system may be a vehicle head coordinate system.
Specifically, if the coordinates of the contour point of a certain reference object after clustering are (px 1, py1, pz 1), (px 2, py2, pz 2), (px 3, py3, pz 3), (px 4, py4, pz 4), the coordinates of the center point of the object can be obtained as (px 1+px2+px3+px4)/4, (py1+py2+py3+py4)/4, (pz1+pz2+pz3+pz 4)/4, respectively.
The process of determining the second center point coordinates of the reference object is similar to the process of determining the first center point coordinates of the reference object described above, and will not be described again here.
The contour point coordinates of the reference object under the vehicle body coordinate system can be accurately determined based on the mounting information of the laser radar, so that the accuracy of finally determined rotation angle deviation is improved.
Fig. 5 is a flowchart of a method for determining contour points of a reference object according to an embodiment of the present invention, where, as shown in fig. 5, determining, according to installation information of the lidar, a plurality of contour point coordinates corresponding to each reference object in the vehicle body coordinate system includes:
Step S501, receiving point cloud data sent by a laser radar, and converting the point cloud data into point cloud data under the vehicle body coordinate system according to the installation information of the laser radar; step S502, determining interesting point cloud data from the converted point cloud data; step S503, performing clustering operation on the point cloud data of interest, so as to determine the point cloud data satisfying the preset condition as the same reference object, and determine a plurality of contour point coordinates corresponding to each reference object.
The laser radar can output point cloud data through the Ethernet, the point cloud data are data based on spherical coordinates, the output data are (R, omega, alpha), and the spherical data need to be converted into XYZ coordinates.
Fig. 6 is a schematic diagram of converting spherical coordinates according to an embodiment of the present invention, and as shown in fig. 6, spherical data may be converted into XYZ coordinate data based on the following three formulas. Three formulas can be expressed as: x=r×cos (ω) ×sin (α); y=r×cos (ω) ×cos (α); z=r×sin (ω).
After the received point cloud data is subjected to coordinate conversion, the point cloud data of the XYZ coordinates can be continuously converted into point cloud data under a vehicle body coordinate system according to the installation information of the laser radar. The installation information can be data with signs, and the signs represent negative half shafts of the installation positions of the dimensions at the origin of the coordinates of the vehicle body, so that when the point cloud data of the XYZ coordinates are converted into the point cloud data under the coordinate system of the vehicle body, the XYZ coordinates can be directly added with the installation information of the corresponding dimensions.
In order to avoid the influence of the point cloud data of the obstacle on the calibration result, after the point cloud data under the vehicle body coordinate system is acquired, the point cloud data of interest can be screened from all the point cloud data so as to improve the accuracy of the calibration result.
The obtained point cloud data are the point cloud data of all the reference targets, so that after the point cloud data of interest are obtained, the point cloud data corresponding to each reference target can be determined through clustering operation, and further the contour point coordinates of each reference target can be determined.
Through the conversion and processing of the spherical coordinates, a plurality of contour point coordinates of each reference object under the vehicle body coordinate system can be obtained, so that the accuracy of the first center point and the second center point corresponding to each determined reference object is improved.
Optionally, the method further comprises:
receiving actual placement information of each reference object input by a user;
accordingly, determining the point cloud data of interest from the converted point cloud data includes:
according to the actual placement information of each reference object, determining the corresponding data processing range of the N reference objects in the placement mode corresponding to the actual placement information; and removing the point cloud data outside the data processing range from the acquired point cloud data to obtain the point cloud data of interest.
In determining the point cloud data of interest, the point cloud data of interest can be determined according to actual placement information of each reference object. After the user finishes placing each reference object, the actual placing information can be input into the laser radar calibration equipment. For each reference object, the actual placement information may include a placement height, and a lateral-longitudinal distance from the vehicle. And determining a data processing range according to the actual placement information of each reference object, and removing the point cloud data outside the data processing range to obtain the point cloud data of interest.
For example, when the placement height is 0.9 m, the first reference object is 3 m from the headstock, and the third reference object is 9 m from the headstock, the point cloud data below 0.9 m from the ground can be removed, the point cloud data within 3 m from the headstock and the data outside 9 m from the headstock can be removed, and the rest data is the point cloud data of interest.
According to the actual placement information of the reference targets, the point cloud data of interest can be accurately obtained, the data processing amount can be reduced through the subsequent processing of the point cloud data of interest, and the interference of the point cloud data corresponding to the obstacles on each reference target is avoided.
Optionally, the clustering operation on the point cloud data of interest includes:
performing binarization processing on the point cloud data of interest to obtain a binarized grid image; the grid of the point cloud data corresponds to a value of 1; the data corresponding to the grid without point cloud data is 0; each grid comprising at least one pixel; and respectively determining pixels corresponding to a plurality of grids of the point cloud data in the binarized grid image as a plurality of reference targets based on a connected region marking algorithm.
After the point cloud data of interest is acquired, binarization processing can be performed on the point cloud data of interest, and accurate determination of the reference target object is facilitated by performing binarization processing on the point cloud data. The binarization processing process comprises the following steps: and carrying out binarization processing on the point cloud data to generate a raster image, wherein the value corresponding to the raster with the point cloud data is 1, and the value corresponding to the raster without the point cloud data is 0, so that the binarized raster image is obtained.
After the binarized raster image is acquired, each reference object may be determined based on a connected region labeling algorithm. Specifically, the connected region labeling algorithm may label pixels that are close to each other as a class of objects.
After the reference object is detected, the position information and the geometric parameters of the reference object can be obtained, the position information represents the distance between the reference object and the vehicle head, the geometric parameters represent the length, the width, the height and other information of the obstacle, and a plurality of contour point coordinates of the reference object can be determined based on the information.
The point cloud data is subjected to binarization processing, so that each reference object can be clustered accurately, and the accuracy of the determined outline point coordinates of the reference object is improved.
Optionally, N is 3; a set of reference targets comprising two reference targets; determining pitch angles from first center point coordinates of respective reference targets, comprising:
determining the height difference and the longitudinal distance difference corresponding to the two or three groups of reference targets respectively; determining a plurality of initial pitch angles according to the height difference and the longitudinal distance difference corresponding to each group of reference targets, and determining the pitch angles according to the plurality of initial pitch angles; the longitudinal distance difference represents a distance difference in the Y-axis direction; and/or the number of the groups of groups,
determining a yaw angle from the first center point coordinates of each reference object, comprising:
determining transverse distance differences and longitudinal distance differences corresponding to the two or three groups of reference targets respectively; determining a plurality of initial yaw angles according to the transverse distance difference and the longitudinal distance difference respectively corresponding to each group of reference targets, and determining the yaw angles according to the plurality of initial yaw angles; and/or the number of the groups of groups,
Determining the roll angle from the second center point coordinates of each reference object, comprising:
determining the height difference and the transverse distance difference corresponding to the two or three groups of reference targets respectively; and determining a plurality of initial rolling angles according to the height difference and the transverse distance difference which are respectively corresponding to the reference targets in each group, and determining the rolling angles according to the initial rolling angles.
When the number of the reference objects is 3, the coordinates of the first center points corresponding to the three reference objects can be obtained, the coordinate information of the first reference object is (x 1, y1, z 1), the coordinate information of the second reference object is (x 2, y2, z 2), and the coordinate information of the third reference object is (x 3, y3, z 3) according to the distance between the reference objects and the vehicle from near to far.
The group of reference targets comprises two reference targets, such as a first reference target and a second reference target are the first group of reference targets; the second reference object and the third reference object are a second set of reference objects. A set of reference targets corresponding height differences and longitudinal distance differences may be determined. The height difference of the first group of reference targets is z2-z1; the second group of reference targets has a height difference of z3-z2; the longitudinal distance difference of the first group of reference targets is y2-y1; the second set of reference targets have a longitudinal distance difference y3-y2. Based on the height difference and the longitudinal distance difference of the two groups of reference targets, two initial pitch angles can be determined, wherein the initial pitch angles are respectively as follows: pitch1 and pitch2, and based on the two initial pitch angles, pitch can be determined.
In calculating the initial yaw angle, a set of lateral and longitudinal distance differences corresponding to the reference object may be determined. The first set of reference targets have a lateral distance difference of x2-x1; the second set of reference targets has a lateral distance difference of x3-x2; the longitudinal distance difference of the first group of reference targets is y2-y1; the second set of reference targets have a longitudinal distance difference y3-y2. Based on the difference in lateral distance and the difference in longitudinal distance between the two sets of reference targets, two initial yaw angles may be determined, respectively: yaw1 and Yaw2, and the pitch angle Yaw may be determined based on the two initial pitch angles.
When the initial rolling angle is calculated, the placement position of the reference object is required to be adjusted to obtain a second center point coordinate, so that the height difference and the transverse distance difference corresponding to a group of reference objects can be determined based on the second center point coordinate. The height difference of the first group of reference targets is z2-z1; the second group of reference targets has a height difference of z3-z2; the first set of reference targets have a lateral distance difference of x2-x1; the second set of reference targets has a lateral distance difference of x3-x2. Based on the height difference and the lateral distance difference of the two groups of reference targets, two initial rolling angles can be determined, which are respectively: row1 and Row2, and based on the two initial roll angles, the roll angle Row may be determined.
Optionally, determining a plurality of initial pitch angles according to the height difference and the longitudinal distance difference respectively corresponding to each group of reference targets includes:
for a group of reference targets, calculating a first quotient of the corresponding height difference and the longitudinal distance difference; acquiring a first arctangent result corresponding to the first quotient, wherein the first arctangent result is the initial pitch angle; and/or the number of the groups of groups,
determining a plurality of initial yaw angles from the respective corresponding lateral and longitudinal distance differences for each set of reference targets, comprising:
calculating a second quotient of the corresponding lateral distance difference and longitudinal distance difference for a set of reference targets; acquiring a second arctangent result corresponding to the second quotient, wherein the second arctangent result is the initial yaw angle; and/or the number of the groups of groups,
determining a plurality of initial roll angles according to the height differences and the transverse distance differences respectively corresponding to the groups of reference targets, wherein the method comprises the following steps:
calculating a third quotient of the corresponding height difference and the transverse distance difference for a group of reference targets; and obtaining a third tangent result corresponding to the third quotient, wherein the third tangent result is the initial rolling angle.
Specifically, the calculation formula for calculating the two initial pitch angles and the finally determined pitch angle is as follows:
pitch1＝arctan((z2-z1)/(y2-y1))
pitch2＝arctan((z3-z2)/(y3-y2))
pitch＝(pitch1+pitch2)/2
Similar to the above procedure, the calculation formulas for calculating the two initial yaw angles and the final yaw angle are as follows:
Yaw1＝arctan((x2-x1)/(y2-y1))
Yaw2＝arctan((x3-x2)/(y3-y2))
Yaw＝(Yaw1+Yaw2)/2
similar to the above procedure, the calculation formulas for calculating the two initial roll angles and the final roll angle are as follows:
Row1＝arctan((z2-z1)/(x2-x1))
Row2＝arctan((z3-z2)/(x3-x2))
Row＝(Row1+Row2)/2
after the pitch angle, the yaw angle and the roll angle determined based on the above formula are obtained, the calibration process is completed, and the data obtained by the laser radar can be converted into the vehicle body coordinate system based on the above three angles.
Fig. 7 is a schematic structural diagram of a laser radar calibration device according to an embodiment of the present invention, as shown in fig. 7, the device 70 includes:
a first determining module 701, configured to determine first center point coordinates and second center point coordinates of N reference targets corresponding to each other in a vehicle body coordinate system; the first center point coordinates are the center point coordinates of each reference object when N reference objects are placed in a straight line along the Y axis; the second center point coordinates are the center point coordinates of each reference object when N reference objects are placed in a straight line along the X axis; the placement heights of the N reference targets are the same; n is more than or equal to 3;
a second determining module 702, configured to determine a pitch angle and a yaw angle according to the first center point coordinates of each reference object, and determine a roll angle according to the second center point coordinates of each reference object; the Y axis is the vehicle advancing direction; the Z axis is in an upward direction perpendicular to the ground; the X axis is the corresponding direction of the right side of the vehicle when the vehicle runs forwards.
Optionally, the reference object is a triangular reflecting cone; when the N reference objects are arranged in a straight line along the X axis or the Y axis, the intervals between every two adjacent reference objects are different; the apparatus further comprises: a third determining module, configured to:
and determining the number of the reference targets and the intervals among all the N reference targets according to the calibration precision requirement of the vehicle to be calibrated and/or the type of the vehicle to be calibrated.
Optionally, the method further includes a receiving module, configured to:
receiving the installation information of the laser radar input by a user;
correspondingly, when determining the first center point coordinates corresponding to the N reference objects in the vehicle body coordinate system, the first determining module 701 is specifically configured to:
according to the installation information of the laser radar, determining a plurality of contour point coordinates corresponding to each reference object under the vehicle body coordinate system; the installation information is used for representing the installation position information of the laser radar under the vehicle body coordinate system;
and determining first center point coordinates of each reference object under the vehicle body coordinate system according to the contour point coordinates.
Optionally, when determining a plurality of profile point coordinates corresponding to each reference object in the vehicle body coordinate system according to the installation information of the lidar, the first determining module 701 is specifically configured to:
Receiving point cloud data sent by a laser radar, and converting the point cloud data into point cloud data under the vehicle body coordinate system according to the installation information of the laser radar;
determining point cloud data of interest from the converted point cloud data;
and clustering the point cloud data of interest to determine the point cloud data meeting preset conditions as the same reference object, and determining a plurality of contour point coordinates corresponding to each reference object.
Optionally, the receiving module is further configured to:
receiving actual placement information of each reference object input by a user;
accordingly, the first determining module 701 is specifically configured to, when determining the point cloud data of interest from the converted point cloud data:
according to the actual placement information of each reference object, determining the corresponding data processing range of the N reference objects in the placement mode corresponding to the actual placement information;
and removing the point cloud data outside the data processing range from the acquired point cloud data to obtain the point cloud data of interest.
Optionally, the first determining module 701 is specifically configured to, when performing a clustering operation on the point cloud data of interest:
Performing binarization processing on the point cloud data of interest to obtain a binarized grid image; the grid of the point cloud data corresponds to a value of 1; the data corresponding to the grid without point cloud data is 0; each grid comprising at least one pixel;
and respectively determining pixels corresponding to a plurality of grids of the point cloud data in the binarized grid image as a plurality of reference targets based on a connected region marking algorithm.
Optionally, N is 3; a set of reference targets comprising two reference targets; the second determining module 702 is specifically configured to, when determining the pitch angle according to the first center point coordinates of each reference object:
determining the height difference and the longitudinal distance difference corresponding to the two or three groups of reference targets respectively;
determining a plurality of initial pitch angles according to the height difference and the longitudinal distance difference corresponding to each group of reference targets, and determining the pitch angles according to the plurality of initial pitch angles; the longitudinal distance difference represents a distance difference in the Y-axis direction; and/or the number of the groups of groups,
the second determining module 702 is specifically configured to, when determining the yaw angle according to the first center point coordinates of each reference object:
determining transverse distance differences and longitudinal distance differences corresponding to the two or three groups of reference targets respectively;
Determining a plurality of initial yaw angles according to the transverse distance difference and the longitudinal distance difference respectively corresponding to each group of reference targets, and determining the yaw angles according to the plurality of initial yaw angles; and/or the number of the groups of groups,
the second determining module 702 is specifically configured to, when determining the roll angle according to the second center point coordinates of each reference object:
determining the height difference and the transverse distance difference corresponding to the two or three groups of reference targets respectively;
and determining a plurality of initial rolling angles according to the height difference and the transverse distance difference which are respectively corresponding to the reference targets in each group, and determining the rolling angles according to the initial rolling angles.
Optionally, the second determining module 702 is specifically configured to, when determining a plurality of initial pitch angles according to the height differences and the longitudinal distance differences corresponding to the respective groups of reference targets:
for a group of reference targets, calculating a first quotient of the corresponding height difference and the longitudinal distance difference;
acquiring a first arctangent result corresponding to the first quotient, wherein the first arctangent result is the initial pitch angle; and/or the number of the groups of groups,
the second determining module 702 is specifically configured to, when determining a plurality of initial yaw angles according to the lateral distance differences and the longitudinal distance differences corresponding to the respective sets of reference targets:
Calculating a second quotient of the corresponding lateral distance difference and longitudinal distance difference for a set of reference targets;
acquiring a second arctangent result corresponding to the second quotient, wherein the second arctangent result is the initial yaw angle; and/or the number of the groups of groups,
the second determining module 702 is specifically configured to, when determining a plurality of initial roll angles according to the height differences and the lateral distance differences corresponding to the respective groups of reference targets:
calculating a third quotient of the corresponding height difference and the transverse distance difference for a group of reference targets;
and obtaining a third tangent result corresponding to the third quotient, wherein the third tangent result is the initial rolling angle.
The laser radar calibration device provided by the embodiment of the invention can realize the laser radar calibration method of the embodiment shown in fig. 2 and 5, and the implementation principle and technical effects are similar, and are not repeated here.
Fig. 8 is a schematic hardware structure of an electronic device according to an embodiment of the present invention. As shown in fig. 8, the electronic device provided in this embodiment includes: at least one processor 801 and a memory 802. The processor 801 and the memory 802 are connected by a bus 803.
In a specific implementation, at least one processor 801 executes computer-executable instructions stored in a memory 802, such that the at least one processor 801 performs the methods in the method embodiments described above.
The specific implementation process of the processor 801 may refer to the above-mentioned method embodiment, and its implementation principle and technical effects are similar, and this embodiment will not be described herein again.
In the embodiment shown in fig. 8, it should be understood that the processor may be a central processing unit (english: central Processing Unit, abbreviated as CPU), or may be other general purpose processors, digital signal processors (english: digital Signal Processor, abbreviated as DSP), application specific integrated circuits (english: application Specific Integrated Circuit, abbreviated as ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in a processor for execution.
The memory may comprise high speed RAM memory or may further comprise non-volatile storage NVM, such as at least one disk memory.
The bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, an external device interconnect (Peripheral Component, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the buses in the drawings of the present application are not limited to only one bus or one type of bus.
The embodiment of the invention also provides a computer readable storage medium, wherein computer execution instructions are stored in the computer readable storage medium, and when the processor executes the computer execution instructions, the method of the method embodiment is realized.
The computer readable storage medium described above may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk. A readable storage medium can be any available medium that can be accessed by a general purpose or special purpose computer.
An exemplary readable storage medium is coupled to the processor such the processor can read information from, and write information to, the readable storage medium. In the alternative, the readable storage medium may be integral to the processor. The processor and the readable storage medium may reside in an application specific integrated circuit (Application Specific Integrated Circuits, ASIC for short). The processor and the readable storage medium may reside as discrete components in a device.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting 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 scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A method for laser radar calibration, the method being applied to a laser radar calibration device, the method comprising:
determining first center point coordinates and second center point coordinates of N reference targets corresponding to the N reference targets in a vehicle body coordinate system; the first center point coordinates are the center point coordinates of each reference object when N reference objects are placed in a straight line along the Y axis; the second center point coordinates are the center point coordinates of each reference object when N reference objects are placed in a straight line along the X axis; the placement heights of the N reference targets are the same; wherein N is greater than or equal to 3;
Determining a pitch angle and a yaw angle according to the first center point coordinates of each reference object, and determining a roll angle according to the second center point coordinates of each reference object; the Y axis is the vehicle advancing direction; the Z axis is the direction vertical to the ground; the X axis is the corresponding direction of the right side of the vehicle when the vehicle runs forwards.
2. The method of claim 1, wherein the reference object is a triangular pyramid;
when the N reference objects are arranged in a straight line along the X axis or the Y axis, the intervals between every two adjacent reference objects are different; the method further comprises the steps of:
and determining the number of the reference targets and the intervals among all the N reference targets according to the calibration precision requirement of the vehicle to be calibrated and/or the type of the vehicle to be calibrated.
3. The method according to claim 1, wherein the method further comprises:
receiving the installation information of the laser radar input by a user;
correspondingly, the determining the first center point coordinates of the N reference objects corresponding to the vehicle body coordinate system includes:
according to the installation information of the laser radar, determining a plurality of contour point coordinates corresponding to each reference object under the vehicle body coordinate system; the installation information is used for representing the installation position information of the laser radar under the vehicle body coordinate system;
And determining first center point coordinates of each reference object under the vehicle body coordinate system according to the contour point coordinates.
4. A method according to claim 3, wherein determining a plurality of contour point coordinates corresponding to each reference object in the vehicle body coordinate system according to the installation information of the lidar comprises:
receiving point cloud data sent by a laser radar, and converting the point cloud data into point cloud data under the vehicle body coordinate system according to the installation information of the laser radar;
determining point cloud data of interest from the converted point cloud data;
and clustering the point cloud data of interest to determine the point cloud data meeting preset conditions as the same reference object, and determining a plurality of contour point coordinates corresponding to each reference object.
5. The method according to claim 4, wherein the method further comprises:
receiving actual placement information of each reference object input by a user;
accordingly, determining the point cloud data of interest from the converted point cloud data includes:
according to the actual placement information of each reference object, determining the corresponding data processing range of the N reference objects in the placement mode corresponding to the actual placement information;
And removing the point cloud data outside the data processing range from the acquired point cloud data to obtain the point cloud data of interest.
6. The method of claim 4, wherein clustering the point cloud data of interest comprises:
performing binarization processing on the point cloud data of interest to obtain a binarized grid image; the grid of the point cloud data corresponds to a value of 1; the data corresponding to the grid without point cloud data is 0; each grid comprising at least one pixel;
and respectively determining pixels corresponding to a plurality of grids of the point cloud data in the binarized grid image as a plurality of reference targets based on a connected region marking algorithm.
7. The method of any one of claims 1-5, wherein N is 3; a set of reference targets comprising two reference targets; determining pitch angles from first center point coordinates of respective reference targets, comprising:
determining the height difference and the longitudinal distance difference corresponding to the two or three groups of reference targets respectively;
determining a plurality of initial pitch angles according to the height difference and the longitudinal distance difference corresponding to each group of reference targets, and determining the pitch angles according to the plurality of initial pitch angles; the longitudinal distance difference represents a distance difference in the Y-axis direction; and/or the number of the groups of groups,
Determining a yaw angle from the first center point coordinates of each reference object, comprising:
determining transverse distance differences and longitudinal distance differences corresponding to the two or three groups of reference targets respectively;
determining a plurality of initial yaw angles according to the transverse distance difference and the longitudinal distance difference respectively corresponding to each group of reference targets, and determining the yaw angles according to the plurality of initial yaw angles; and/or the number of the groups of groups,
determining the roll angle from the second center point coordinates of each reference object, comprising:
determining the height difference and the transverse distance difference corresponding to the two or three groups of reference targets respectively;
and determining a plurality of initial rolling angles according to the height difference and the transverse distance difference which are respectively corresponding to the reference targets in each group, and determining the rolling angles according to the initial rolling angles.
8. The method of claim 7, wherein determining a plurality of initial pitch angles from the respective height differences and longitudinal distance differences for each set of reference targets comprises:
for a group of reference targets, calculating a first quotient of the corresponding height difference and the longitudinal distance difference;
acquiring a first arctangent result corresponding to the first quotient, wherein the first arctangent result is the initial pitch angle; and/or the number of the groups of groups,
Determining a plurality of initial yaw angles from the respective corresponding lateral and longitudinal distance differences for each set of reference targets, comprising:
calculating a second quotient of the corresponding lateral distance difference and longitudinal distance difference for a set of reference targets;
acquiring a second arctangent result corresponding to the second quotient, wherein the second arctangent result is the initial yaw angle; and/or the number of the groups of groups,
determining a plurality of initial roll angles according to the height differences and the transverse distance differences respectively corresponding to the groups of reference targets, wherein the method comprises the following steps:
calculating a third quotient of the corresponding height difference and the transverse distance difference for a group of reference targets;
and obtaining a third tangent result corresponding to the third quotient, wherein the third tangent result is the initial rolling angle.
9. A lidar calibration device, the device being for a lidar calibration apparatus, the device comprising:
the first determining module is used for determining first center point coordinates and second center point coordinates of N reference targets corresponding to the N reference targets in a vehicle body coordinate system respectively; the first center point coordinates are the center point coordinates of each reference object when N reference objects are placed in a straight line along the Y axis; the second center point coordinates are the center point coordinates of each reference object when N reference objects are placed in a straight line along the X axis; the placement heights of the N reference targets are the same; wherein N is greater than or equal to 3;
The second determining module is used for determining a pitch angle and a yaw angle according to the first center point coordinates of each reference object and determining a rolling angle according to the second center point coordinates of each reference object; the Y axis is the vehicle advancing direction; the Z axis is the direction vertical to the ground; the X axis is the corresponding direction of the right side of the vehicle when the vehicle runs forwards.
10. An electronic device, comprising: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executing computer-executable instructions stored in the memory causes the at least one processor to perform the method of any one of claims 1 to 8.
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| CN117269939B (en) * | 2023-10-25 | 2024-03-26 | 北京路凯智行科技有限公司 | Parameter calibration system, method and storage medium for sensor |
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