CN117321442A

CN117321442A - Pose deviation acquisition method and device, storage medium and electronic equipment

Info

Publication number: CN117321442A
Application number: CN202180094806.XA
Authority: CN
Inventors: 方宇凡
Original assignee: Suteng Innovation Technology Co Ltd
Current assignee: Suteng Innovation Technology Co Ltd
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2023-12-29
Also published as: WO2023272657A1

Abstract

The embodiment of the application discloses a pose deviation acquisition method, a pose deviation acquisition device, a storage medium and electronic equipment, wherein the method comprises the following steps: acquiring a first three-dimensional coordinate measured by a first laser radar aiming at a calibration plate under a reference pose of a calibration station and a second three-dimensional coordinate measured by a laser radar to be calibrated aiming at the calibration plate, which is installed to a structure, and then acquiring first pose deviations of the first laser radar and the laser radar to be calibrated based on the first three-dimensional coordinate and the second three-dimensional coordinate, and determining the first pose deviations as pose deviations of the current pose of the laser radar to be calibrated and the reference pose. By adopting the method and the device, the pose deviation of the current pose of the laser radar to be calibrated and the reference pose can be obtained by comparing the three-dimensional coordinates of the laser radar measured calibration plate under the reference pose with the three-dimensional coordinates of the calibration plate measured by the laser radar to be calibrated, which is installed on the structure.

Description

Pose deviation acquisition method and device, storage medium and electronic equipment

Technical Field

The present disclosure relates to the field of pose calibration technologies, and in particular, to a pose deviation obtaining method and apparatus, a storage medium, and an electronic device.

Background

The laser radar is a sensor widely applied to the fields of automatic driving, robots, internet of vehicles, intelligent traffic and the like, and can provide key capabilities of environment sensing, target identification, autonomous positioning and the like for a system. The pose of a lidar refers to the position of the lidar in three-dimensional space and the orientation of the camera. The laser radar is accurately mounted to a designated pose, or the pose of the laser radar can be accurately measured after the mounting, which is a precondition that each system using the laser radar can work normally.

The existing laser radar pose mainly depends on the installation precision and the manual measurement of professionals, has the problems of measurement errors and equipment precision errors, and consumes manpower and time.

Disclosure of Invention

The embodiment of the application provides a pose deviation obtaining method, a pose deviation obtaining device, a storage medium and electronic equipment, wherein the pose deviation between the current pose of a laser radar to be calibrated and a reference pose can be obtained by comparing the three-dimensional coordinates of a calibration plate measured by the laser radar under the reference pose with the three-dimensional coordinates of the calibration plate measured by the laser radar to be calibrated, which is installed on a structure.

The technical scheme is as follows:

in a first aspect, an embodiment of the present application provides a pose deviation obtaining method, where the method includes:

The method comprises the steps of obtaining a first three-dimensional coordinate of a first laser radar measured by aiming at a calibration plate under the reference pose of a calibration station, and placing at least three calibration plates which are identical in size and not positioned on the same straight line in a calibration view field corresponding to the calibration station, wherein the first laser radar is a laser radar with accurate internal parameter calibration and ranging precision reaching the reference requirement;

acquiring a second three-dimensional coordinate measured by the laser radar to be calibrated, which is mounted to a structure, aiming at the calibration plate, wherein the structure is arranged on the calibration station;

acquiring first pose deviations of the first laser radar and the laser radar to be calibrated based on the first three-dimensional coordinates and the second three-dimensional coordinates;

and determining the pose deviation of the current pose of the laser radar to be calibrated and the reference pose based on the first pose deviation.

In a second aspect, an embodiment of the present application provides a pose deviation obtaining apparatus, including:

the first coordinate acquisition module is used for acquiring a first three-dimensional coordinate of a first laser radar measured by aiming at a calibration plate under the reference pose of a calibration station, at least three calibration plates which are the same in size and are not positioned on the same straight line are arranged in a calibration view field corresponding to the calibration station, and the first laser radar is a laser radar with accurate internal parameter calibration and ranging precision reaching the reference requirement;

The second coordinate acquisition module is used for acquiring a second three-dimensional coordinate measured by the laser radar to be calibrated, which is mounted to the structure, aiming at the calibration plate, and the structure is arranged on the calibration station;

the first deviation acquisition module is used for acquiring first pose deviations of the first laser radar and the laser radar to be calibrated based on the first three-dimensional coordinates and the second three-dimensional coordinates;

and the pose deviation determining module is used for determining the pose deviation between the current pose of the laser radar to be calibrated and the reference pose based on the first pose deviation.

In a third aspect, embodiments of the present application provide a storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the above-described method steps.

In a fourth aspect, embodiments of the present application provide an electronic device, which may include: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the above-mentioned method steps.

The technical scheme provided by some embodiments of the present application has the beneficial effects that at least includes:

in the embodiment of the application, the first three-dimensional coordinate measured by the first laser radar on the calibration plate under the reference pose of the calibration station and the second three-dimensional coordinate measured by the laser radar to be calibrated on the calibration plate, which is installed to the structure, are obtained by comparing the first three-dimensional coordinate measured by the laser radar under the reference pose with the second three-dimensional coordinate measured by the laser radar to be calibrated, which is installed on the structure, so that the pose deviation between the current pose of the laser radar to be calibrated and the reference pose is obtained, the labor cost and the time cost in the installation process of the laser radar are saved, and the use effect of the laser radar is guaranteed by calibrating the pose deviation with high precision.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 provides an exemplary schematic diagram of a calibration station and a calibration field of view for an embodiment of the present application;

fig. 2 is a schematic flow chart of a pose deviation obtaining method according to an embodiment of the present application;

FIG. 3 is a schematic diagram of an example of fixing a first laser radar to a reference pose according to an embodiment of the present application;

FIG. 4 is a schematic diagram of an embodiment of the present application for fixing a laser radar to be calibrated;

fig. 5 is a schematic flow chart of a pose deviation obtaining method according to an embodiment of the present application;

FIG. 6 is a schematic illustration of an exemplary folded surface calibration plate according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a pose deviation obtaining device according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a first deviation obtaining module according to an embodiment of the present application;

Fig. 9 is a schematic structural diagram of a pose deviation obtaining device according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a second deviation obtaining module according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

In the description 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. In the description of the present application, it is to be understood that the terms "comprise" and "have," and any variations thereof, are intended to cover non-exclusive inclusions, unless otherwise specifically defined and defined. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context. Furthermore, in the description of the present application, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.

In order to more clearly describe the technical solution of the embodiments of the present invention, before the description, some concepts of the present invention are described in detail so as to better understand the present solution.

The laser radar is a ranging sensor widely applied to the fields of automatic driving, robots, internet of vehicles, intelligent traffic and the like, and can measure the distance of a target by irradiating the target with pulse laser and measuring the return time of a reflected pulse by using the sensor.

Currently, lidars are generally classified into mechanical lidars and solid-state lidars. The mechanical laser radar can realize a scanning range of 360 degrees without dead angles, can realize modeling effects with higher precision and resolution under the condition of increasing the line number, but has the use defects of oversized size, complicated debugging and overhigh cost; the solid-state lidar is a lidar without a rotating mechanical structure, all laser detection horizontal and vertical visual angles are realized in an electronic mode, and the solid-state lidar has the advantages of small volume, low cost, high durability and the like, and the solid-state lidar with small size and low cost has gradually become the development trend of future lidars.

The pose of the laser radar refers to the position and the pose of the laser radar in a three-dimensional space, and the laser radar is accurately installed to a specified reference pose or the current pose of the laser radar is accurately measured after the laser radar is installed, so that the laser radar system is a premise that each system using the laser radar can work normally.

The application provides a pose deviation obtaining method which is used for measuring pose deviation between a current pose and a preset reference pose after laser radar is installed.

It should be noted that, the pose deviation obtaining method provided by the application depends on a calibration plate arranged in the environment. Before the pose deviation obtaining method is implemented, a calibration station and a calibration view field are required to be artificially set according to specific requirements, wherein the calibration station is used for placing a laser radar, the range of the calibration view field is generally not beyond the measurement view field of the laser radar fixed on the calibration station, at least three calibration plates which are not positioned on the same straight line are placed in the calibration view field, so that the accuracy of calculation and results of pose data is ensured, a reference coordinate system is set on the calibration station, and three-dimensional coordinates of each calibration plate are standard with the three-dimensional coordinates under the reference coordinate system.

Referring to fig. 1, an exemplary schematic diagram of a calibration station and a calibration field of view is provided for an embodiment of the present application.

As shown in fig. 1, the calibration station is disposed opposite to the calibration field of view, in which a plurality of calibration plates are placed, and on which a reference coordinate system is disposed.

Referring to fig. 2, a flow chart of a pose deviation obtaining method is provided in an embodiment of the present application. As shown in fig. 2, the pose deviation obtaining method may include the following steps S101 to S104.

S101, acquiring a first three-dimensional coordinate of a first laser radar measured by aiming at a calibration plate under a reference pose of a calibration station, wherein at least three calibration plates which are identical in size and are not positioned on the same straight line are placed in a calibration view field corresponding to the calibration station, and the first laser radar is a laser radar with accurate internal parameter calibration and ranging precision reaching a reference requirement;

specifically, the first laser radar is fixed under a reference pose preset on a calibration station, and the first three-dimensional coordinates of each calibration plate in a calibration view field are measured by the first laser radar.

The first laser radar can be a laser radar which is mature in technology, accurate in internal parameter calibration and capable of achieving the reference requirement on range finding precision.

The first lidar may be a mechanical lidar, a Micro-Electro-Mechanical System (MEMS) solid-state lidar, a FLASH lidar, or the like, and the specific type of the lidar is not limited herein.

The reference pose refers to that the laser radar is placed at the origin of a reference coordinate system, the coordinate system of the laser radar is completely matched with the reference coordinate system preset at the calibration station, the laser radar can be considered to be located at the reference pose, the origin of the reference coordinate system is the reference position, and the orientation of each dimension of the reference coordinate system is the reference pose. That is, when the first lidar is located at the origin of the reference coordinate system and the orientation of each dimension of the self coordinate system of the first lidar is identical to the orientation of each dimension of the reference coordinate system, the first lidar is considered to be located at the reference pose.

Further, for guaranteeing to install first laser radar accurately on the reference position appearance, can make in advance and be used for installing first laser radar's installation tool, installation tool and demarcation station cooperation can be with first laser radar accurate installation at the reference position appearance.

Referring to fig. 3, an exemplary schematic diagram for fixing the first lidar to the reference pose is provided in an embodiment of the present application.

As shown in fig. 3, the first laser radar has a laser radar coordinate system O1-X1Y1Z1, and a reference coordinate system O-XYZ is provided on the calibration station, and when the first laser radar is fixed to the calibration station, the laser radar coordinate system O1-X1Y1Z1 and the reference coordinate system O-XYZ completely coincide, and at this time, the first laser radar is located in the reference pose.

It will be appreciated that whichever sensor is: cameras, lidars, millimeter wave radars all have their own coordinate system, i.e. all data generated by the sensors are based on the sensor's own coordinate system. The three-dimensional coordinate generated by the laser radar measurement calibration plate is also based on the three-dimensional coordinate under the self coordinate system of the laser radar, and the three-dimensional coordinate generated by the laser radar measurement calibration plate is the three-dimensional coordinate relative to the reference coordinate system only when the self coordinate system of the laser radar coincides with the preset reference coordinate system.

Further, the first three-dimensional coordinates of the calibration plates in the measurement calibration field of view may be three-dimensional coordinates of the center point of each calibration plate, and the three-dimensional coordinates of the center point may be used as the first three-dimensional coordinates of each calibration plate. The three-dimensional coordinates of the calibration plate may be the three-dimensional coordinates of a corner of the calibration plate, and the method for determining the three-dimensional coordinates of the calibration plate may be various, which is not limited in the embodiment of the present application.

S102, acquiring a second three-dimensional coordinate measured by the laser radar to be calibrated, which is mounted to a structure, aiming at the calibration plate, wherein the structure is arranged on the calibration station;

specifically, a structure provided with the radar to be calibrated is fixed to a calibration station, and the laser radar to be calibrated is used for measuring second three-dimensional coordinates of each calibration plate in the calibration view field.

The laser radar to be calibrated may be a mechanical laser radar, a Micro-Electro-Mechanical System (MEMS) solid-state laser radar, a FLASH laser radar, or the like, and the specific type of the laser radar is not limited herein.

It can be understood that the lidar to be calibrated is a lidar already fixed on a product structure, and the structure has an expected installation pose of the lidar to be calibrated, but in an actual installation process, the lidar to be calibrated may not be correctly installed on the expected installation pose of the structure due to problems of measurement errors, equipment precision errors and the like, so that the lidar to be calibrated is not necessarily located on the expected installation pose of the structure. At the moment, the structure on which the radar to be calibrated is mounted is fixed to the calibration station according to the fact that the expected mounting pose of the structure coincides with the reference pose of the calibration station.

Referring to fig. 4, an exemplary schematic diagram of a laser radar to be calibrated is provided in an embodiment of the present application.

As shown in fig. 4, the lidar to be calibrated is fixed on a structure, the lidar to be calibrated has a lidar coordinate system of the lidar to be calibrated, the structure has a desired installation pose, and the lidar to be calibrated is not accurately installed on the desired installation pose due to factors such as measurement errors, equipment precision errors and the like. And fixing the structure provided with the laser radar to be calibrated at the calibration station to enable the expected mounting pose to coincide with the reference pose, wherein the laser radar to be calibrated is not positioned on the reference pose at the moment, and the current pose of the laser radar to be calibrated has pose deviation with the reference pose.

S103, acquiring first pose deviations of the first laser radar and the laser radar to be calibrated based on the first three-dimensional coordinates and the second three-dimensional coordinates;

specifically, a first objective function is constructed based on the first three-dimensional coordinates and the second three-dimensional coordinates, and the first objective function is solved to obtain first pose deviations of the first laser radar and the laser radar to be calibrated.

Further, an objective function as shown below may be constructed.

Wherein N is the number of calibration plates, i is the number of calibration plates, and p is the number of calibration plates _i For the first three-dimensional coordinate, p 'of the ith calibration plate' _i And R is a rotation matrix, and t is a translation vector for the second three-dimensional coordinate of the ith calibration plate.

Solving the above can solve for p _i -(Rp′ _i +t) is the smallest unique rotation matrix R and translation vector t, where t= (x, y, z). Then θ can be inversely solved from matrix R by _x ，θ _y ，θ _z 。

R＝Rz·Ry·Rx

Wherein θ _x 、θ _y 、θ _z RPY euler angle representation of lidar poses, respectively. Together with t, the first laser radar and the laser to be calibrated are formedFirst pose bias of lidar:

C ₁ ＝(x,y,z,θ _x ,θ _y ,θ _z )。

s104, determining the pose deviation of the current pose of the laser radar to be calibrated and the reference pose based on the first pose deviation.

Specifically, the first pose deviation is determined to be the pose deviation between the current pose of the laser radar to be calibrated and the reference pose.

It is to be understood that the first lidar is located on the reference pose of the calibration station, the structure on which the lidar to be calibrated is mounted is fixed on the calibration station, and the expected mounting pose of the radar to be calibrated on the structure coincides with the reference pose on the calibration station, but because the radar to be calibrated is not necessarily accurately mounted on the expected mounting pose, the first lidar and the lidar to be calibrated may have deviations in pose, so that the first pose deviations of the first lidar and the lidar to be calibrated, namely the pose deviations of the current pose of the lidar to be calibrated and the reference pose, can be calculated based on the first three-dimensional coordinates and the second three-dimensional coordinates.

When the first lidar and the lidar to be calibrated are different types of lidars, please refer to fig. 5, a flow chart of a pose deviation obtaining method is provided for an embodiment of the present application. As shown in fig. 5, the pose deviation obtaining method may include the following steps S201 to S206.

S201, acquiring a first three-dimensional coordinate measured by a first laser radar for a calibration plate under a reference pose of a calibration station;

specifically, the first laser radar is fixed to a reference pose of a calibration station, three-dimensional coordinates of each calibration plate in a calibration view field are measured by using the first laser radar positioned at the reference pose, average values are measured for each calibration plate for a plurality of times, and the average values are used as first three-dimensional coordinates of each calibration plate.

The first lidar and the lidar to be calibrated are different types of lidars, for example, the first lidar may be a mechanical lidar, and the lidar to be calibrated is a microelectromechanical system solid-state lidar.

It is easy to understand that the measurement result can be more accurate by adopting a mode of taking an average value for a plurality of times.

S202, acquiring a second three-dimensional coordinate measured by the laser radar to be calibrated, which is mounted to the structure, aiming at the calibration plate;

Specifically, the structure provided with the laser radar to be calibrated is fixed to a calibration station, the laser radar to be calibrated is used for measuring the three-dimensional coordinates of each calibration plate in the calibration view field, the average value is measured for a plurality of times for each calibration plate, and the average value is used as the second three-dimensional coordinates of each calibration plate.

S203, acquiring a third three-dimensional coordinate measured by a second laser radar aiming at the calibration plate under the reference pose of the calibration station, wherein the second laser radar and the laser radar to be calibrated are the same type of laser radar;

specifically, the second laser radar is fixed to a reference pose of a calibration station, three-dimensional coordinates of each calibration plate in a calibration view field are measured by using the second laser radar positioned at the reference pose, average values are measured for each calibration plate for a plurality of times, and the average values are used as third three-dimensional coordinates of each calibration plate. The second laser radar may be the same type of laser radar as the laser radar to be calibrated.

S204, acquiring first pose deviations of the first laser radar and the laser radar to be calibrated based on the first three-dimensional coordinates and the second three-dimensional coordinates;

in particular, please refer to the detailed description in step S103 in another embodiment, which is not described herein.

S205, acquiring second pose deviations of the first laser radar and the second laser radar based on the first three-dimensional coordinates and the third three-dimensional coordinates;

specifically, a second objective function of the first three-dimensional coordinate and the third three-dimensional coordinate is constructed, and the second objective function is solved to obtain second pose deviations of the first laser radar and the second laser radar.

Further, an objective function as shown below may be constructed.

Wherein N is the number of calibration plates, i is the number of calibration plates, and p is the number of calibration plates _i For the first three-dimensional coordinate, p', of the ith calibration plate _i And R 'is a rotation matrix, and t' is a translation vector for the third three-dimensional coordinate of the ith calibration plate.

Solving the above can solve for p _i -(Rp″ _i +t) is the smallest unique rotation matrix R 'and translation vector t', where t '= (x', y ', z'). Then θ can be back-solved from the matrix R' by _x ′，θ _y ′，θ _z ′。

R′＝R′z·R′y·R′x

Wherein θ _x ′、θ _y ′、θ _z ' are the RPY euler angle representations of the lidar poses, respectively. Together with t', a second pose bias of the first and second lidars is constituted:

C ₂ ＝(x′,y′,z′,θ _x ′,θ _y ′,θ _z ′)。

it is not easy to understand that the first laser radar and the laser radar to be calibrated are different types of laser radars, and the second laser radar and the laser radar to be calibrated are different types of laser radars. Therefore, the internal parameters of the first laser radar and the second laser radar are different, when the three-dimensional coordinates of each calibration plate are measured, deviation may exist in the measurement result, and because the first laser radar and the second laser radar are located in the reference pose of the calibration station, the deviation in pose does not exist, and obviously, the second pose deviation refers to the deviation in the measurement result of the three-dimensional coordinates of each calibration plate between the first laser radar and the second laser radar.

S206, determining the pose deviation of the current pose and the reference pose of the laser radar to be calibrated based on the first pose deviation and the second pose deviation.

Specifically, calculating the difference value of the first pose deviation and the second pose deviation, and determining the pose deviation of the current pose and the reference pose of the laser radar to be calibrated, namely:

and the pose deviation of the current pose and the reference pose of the laser radar to be calibrated=the first pose deviation and the second pose deviation.

It is to be understood that the first lidar and the lidar to be calibrated are different types of lidars, so that a deviation exists between the first lidar and the lidar to be calibrated on the measurement result of the three-dimensional coordinates of each calibration plate, the first lidar is positioned on the reference pose of the calibration station, but the radar to be calibrated is not necessarily accurately installed on the reference pose, so that a deviation on the pose can exist between the first lidar and the lidar to be calibrated, and therefore, the first pose deviation substantially comprises the pose deviation and the measurement deviation; as can be seen from step S205, the second pose deviation includes a measured deviation between the two types of lidars, and thus the pose deviation of the current pose and the reference pose of the lidar to be calibrated=first pose deviation-second pose deviation.

In the embodiment of the application, when the first laser radar and the laser radar to be calibrated are different types of laser radars, by acquiring the first three-dimensional coordinate measured by the first laser radar aiming at the calibration plate under the reference pose of the calibration station, the second laser radar aiming at the third three-dimensional coordinate measured by the calibration plate under the reference pose of the calibration station and the second three-dimensional coordinate measured by the laser radar to be calibrated which is installed to the structure aiming at the second three-dimensional coordinate measured by the calibration plate, the first three-dimensional coordinate, the second three-dimensional coordinate and the third three-dimensional coordinate are obtained in a mode of taking average value for a plurality of times, so that the measurement precision is improved, the accuracy of the pose deviation is further ensured, then the first pose deviation of the first laser radar and the first pose deviation of the laser radar to be calibrated is acquired, the pose deviation of the first laser radar and the second laser radar is acquired, and the pose deviation of the current pose and the reference pose of the laser radar is further obtained based on the first pose deviation and the second pose deviation of the laser radar, the labor cost and time in the installation process of the laser radar are saved, and the cost of the radar is further improved, and the error of the laser radar is ensured, and the error caused by the position deviation is further ensured.

In the above embodiment, according to the three-dimensional coordinates of the calibration plate measured by the laser radar in the reference pose and the three-dimensional coordinates of the calibration plate measured by the laser radar to be calibrated mounted on the structure, an objective function is constructed on the three-dimensional coordinates of the calibration plate measured by the laser radar in the reference pose and the three-dimensional coordinates of the calibration plate measured by the laser radar to be calibrated mounted on the structure, and the pose deviation between the current pose of the laser radar to be calibrated and the reference pose is obtained by solving the objective function. Wherein the three-dimensional coordinates of the calibration plate substantially belong to a point location feature of the calibration plate in the calibration field of view.

In order to avoid the interference of point cloud ranging errors in the process of directly calculating the point position features, the line position features can be calculated in a fitting mode to replace the point position features, so that more accurate pose deviation is obtained. Specifically, the calibration plates can be set to be folded surfaces, as shown in fig. 6, line position characteristics of each calibration plate can be constructed based on fold lines of the folded surfaces, then an objective function is constructed based on the line position characteristics of the calibration plates measured by the laser radar under the reference pose and the line position characteristics of the calibration plates measured by the laser radar to be calibrated, which are installed on the structure, and the objective function is solved to obtain pose deviation between the current pose of the laser radar to be calibrated and the reference pose, so that interference of point cloud ranging errors in the process of directly calculating the point position characteristics can be avoided.

Referring to fig. 7, a schematic structural diagram of a pose deviation obtaining device is provided in an embodiment of the present application. As shown in fig. 7, the pose deviation acquiring apparatus 1 may be implemented as all or a part of the terminal device by software, hardware, or a combination of both. According to some embodiments, the pose deviation obtaining device 1 includes a first coordinate obtaining module 11, a second coordinate obtaining module 12, a first deviation obtaining module 13, and a pose deviation determining module 14, specifically including:

the first coordinate acquisition module 11 is used for acquiring a first three-dimensional coordinate measured by a first laser radar for a calibration plate under the reference pose of a calibration station, at least three calibration plates which are the same in size and are not positioned on the same straight line are arranged in a calibration view field corresponding to the calibration station, and the first laser radar is a laser radar with accurate internal parameter calibration and ranging precision reaching the reference requirement;

a second coordinate acquiring module 12, configured to acquire a second three-dimensional coordinate measured by the laser radar to be calibrated, which is mounted to a structure, for the calibration plate, where the structure is at the calibration station;

a first deviation obtaining module 13, configured to obtain first pose deviations of the first lidar and the lidar to be calibrated based on the first three-dimensional coordinate and the second three-dimensional coordinate, and determine the first pose deviations as pose deviations of the current pose of the lidar to be calibrated and the reference pose;

The pose deviation determining module 14 is configured to determine a pose deviation between the current pose of the laser radar to be calibrated and the reference pose based on the first pose deviation.

Optionally, the first coordinate acquiring module 11 is specifically configured to:

fixing the first laser radar to a reference pose of a calibration station;

and acquiring a plurality of first three-dimensional coordinates measured by the first laser radar for the calibration plates, calculating an average value of the plurality of first three-dimensional coordinates, and taking the average value as the first three-dimensional coordinates of each calibration plate.

Optionally, the second coordinate acquiring module 12 is specifically configured to:

fixing the structure provided with the laser radar to be calibrated to a calibration station;

and acquiring a plurality of second three-dimensional coordinates measured by the laser radar to be calibrated aiming at the calibration plates, calculating an average value of the plurality of second three-dimensional coordinates, and taking the average value as the second three-dimensional coordinates of each calibration plate.

Optionally, as shown in fig. 8, the first deviation obtaining module 13 further includes:

a first function construction unit 131 for constructing a first objective function based on the first three-dimensional coordinates and the second three-dimensional coordinates;

the first deviation calculating unit 132 is configured to solve the first objective function to obtain a first pose deviation of the first lidar and the lidar to be calibrated.

Optionally, the first function construction unit 131 is specifically configured to:

the first objective function is:

wherein N is the number of the calibration plates, p _i For the first three-dimensional coordinate, p 'of the ith calibration plate' _i And R is a rotation matrix, and t is a translation vector for the second three-dimensional coordinate of the ith calibration plate.

Optionally, the pose deviation determining module 14 is specifically configured to:

and determining the first pose deviation as the pose deviation between the current pose of the laser radar to be calibrated and the reference pose.

Optionally, as shown in fig. 9, if the first lidar and the lidar to be calibrated are different types of lidars, the pose deviation obtaining device further includes:

the third coordinate acquisition module 15 is configured to acquire a third three-dimensional coordinate measured by a second laser radar for the calibration plate under a reference pose of the calibration station, where the second laser radar and the laser radar to be calibrated are the same type of laser radar;

a second deviation acquisition module 16 for acquiring second pose deviations of the first and second lidars based on the first and third three-dimensional coordinates;

the pose deviation determining module 14 is further configured to:

And determining the pose deviation of the current pose and the reference pose of the laser radar to be calibrated based on the first pose deviation and the second pose deviation.

Optionally, the third coordinate acquiring module 14 is specifically configured to:

fixing the second laser radar to a reference pose of a calibration station;

and acquiring a plurality of third three-dimensional coordinates measured by the second laser radar for the calibration plates, calculating an average value of the plurality of third three-dimensional coordinates, and taking the average value as the third three-dimensional coordinate of each calibration plate.

Optionally, as shown in fig. 10, the second deviation obtaining module 16 includes:

a second function construction unit 161 for constructing a second objective function of the first three-dimensional coordinates and the third three-dimensional coordinates;

and a second deviation calculating unit 162, configured to solve the second objective function to obtain a second pose deviation of the first lidar and the second lidar.

Optionally, the second function construction unit 161 is specifically configured to:

the second objective function is:

wherein N is the number of the calibration plates, p _i For the first three-dimensional coordinate, p', of the ith calibration plate _i And R 'is a rotation matrix, and t' is a translation vector for the third three-dimensional coordinate of the ith calibration plate.

and calculating the difference value of the first pose deviation and the second pose deviation, and determining the difference value as the pose deviation of the current pose and the reference pose of the laser radar to be calibrated.

It should be noted that, when the pose deviation obtaining device provided in the above embodiment performs the pose deviation obtaining method, only the division of the above functional modules is used for illustration, in practical application, the above functional allocation may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the pose deviation obtaining device and the pose deviation obtaining method provided in the above embodiments belong to the same concept, which embody the detailed implementation process and are not described herein.

The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.

In the embodiment of the application, the first three-dimensional coordinate of the first laser radar measured by the calibration plate under the reference pose of the calibration station and the second three-dimensional coordinate of the laser radar to be calibrated, which is installed to the structure and is measured by the calibration plate, are obtained by comparing the first three-dimensional coordinate of the calibration plate measured by the laser radar under the reference pose with the second three-dimensional coordinate of the calibration plate measured by the laser radar to be calibrated, which is installed on the structure, so that the pose deviation between the current pose of the laser radar to be calibrated and the reference pose is obtained, the labor cost and the time cost in the installation process of the laser radar are saved, and the use effect of the laser radar is guaranteed by calibrating the pose deviation with high precision; further, when the first laser radar and the laser radar to be calibrated are different types of laser radars, by acquiring third three-dimensional coordinates measured by a second laser radar of the same type as the laser radar to be calibrated for the calibration plate under the reference pose of the calibration station, and then acquiring second pose deviations of the first laser radar and the second laser radar based on the first three-dimensional coordinates and the third three-dimensional coordinates, the pose deviations of the current pose and the reference pose of the laser radar to be calibrated are obtained based on the first pose deviations and the second pose deviations, so that the calibration precision of the pose deviations when the first laser radar and the laser radar to be calibrated are different types of laser radars is ensured.

The embodiment of the present application further provides a computer storage medium, where the computer storage medium may store a plurality of instructions, where the instructions are adapted to be loaded by a processor and executed by the processor, where the specific execution process may refer to the specific description of the embodiment shown in fig. 1 to 5, and details are not repeated herein.

The application further provides a computer program product, where at least one instruction is stored, where the at least one instruction is loaded by the processor and executed by the processor, where the specific execution process may refer to the specific description of the embodiment shown in fig. 1 to 5, and details are not repeated herein.

Referring to fig. 11, a schematic structural diagram of an electronic device is provided in an embodiment of the present application. As shown in fig. 11, the electronic device 1000 may include: at least one processor 1001, at least one memory 1002, at least one network interface 1003, at least one input output interface 1004, at least one communication bus 1005, and at least one display unit 1006. Wherein the processor 1001 may include one or more processing cores. Processor 1001 utilizes various interfaces and lines to connect various portions of the overall electronic device 1000, and performs various functions of terminal 1000 and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in memory 1002, and invoking data stored in memory 1002. The memory 1002 may be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 1002 may also optionally be at least one storage device located remotely from the processor 1001. The network interface 1003 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others. A communication bus 1005 is used to enable connected communications between these components. As shown in fig. 13, an operating system, a network communication module, an input-output interface module, and a pose deviation acquisition program may be included in a memory 1002 as one type of electronic device storage medium.

In the electronic device 1000 shown in fig. 11, the input/output interface 1004 is mainly used for providing an input interface for a user and an access device, and acquiring data input by the user and the access device.

In one embodiment.

The processor 1001 may be configured to call a pose deviation acquisition program stored in the memory 1002, and specifically perform the following operations:

Optionally, when executing the acquiring the first three-dimensional coordinate measured by the first lidar for the calibration plate under the reference pose of the calibration station, the processor 1001 specifically performs the following operations:

fixing the first laser radar to a reference pose of a calibration station;

Optionally, the processor 1001, when executing the acquiring the second three-dimensional coordinates measured by the laser radar to be calibrated, which is mounted to the structure, for the calibration board, specifically executes the following operations:

Optionally, when executing the acquiring the first pose deviation of the first lidar and the lidar to be calibrated based on the first three-dimensional coordinate and the second three-dimensional coordinate, the processor 1001 specifically executes the following operations:

Constructing a first objective function based on the first three-dimensional coordinates and the second three-dimensional coordinates;

and solving the first objective function to obtain first pose deviations of the first laser radar and the laser radar to be calibrated.

Optionally, when executing the building of the first objective function based on the first three-dimensional coordinate and the second three-dimensional coordinate, the processor 1001 specifically performs the following operations:

the first objective function is:

Optionally, when executing the determining, based on the first pose deviation, the pose deviation between the current pose of the lidar to be calibrated and the reference pose, the processor 1001 specifically executes the following operations:

Optionally, if the first lidar and the lidar to be calibrated are different types of lidars, the processor 1001 further performs the following operations:

acquiring a third three-dimensional coordinate measured by a second laser radar aiming at the calibration plate under the reference pose of the calibration station, wherein the second laser radar and the laser radar to be calibrated are the same type of laser radar;

Acquiring second pose deviations of the first laser radar and the second laser radar based on the first three-dimensional coordinates and the third three-dimensional coordinates;

the determining the pose deviation between the current pose of the laser radar to be calibrated and the reference pose based on the first pose deviation comprises the following steps:

Optionally, when executing the acquiring the third three-dimensional coordinate measured by the second lidar for the calibration plate in the reference pose of the calibration station, the processor 1001 specifically executes the following operations:

fixing the second laser radar to a reference pose of a calibration station;

Optionally, when executing the acquiring the second pose deviations of the first lidar and the second lidar based on the first three-dimensional coordinate and the third three-dimensional coordinate, the processor 1001 specifically executes the following operations:

Constructing a second objective function of the first three-dimensional coordinate and the third three-dimensional coordinate;

and solving the second objective function to obtain second pose deviations of the first laser radar and the second laser radar.

Optionally, the processor 1001, when executing the second objective function for constructing the first three-dimensional coordinate and the third three-dimensional coordinate, specifically performs the following operations:

the second objective function is:

Optionally, when executing the determining the pose deviation of the current pose and the reference pose of the laser radar to be calibrated based on the first pose deviation and the second pose deviation, the processor 1001 specifically executes the following operations:

It will be clear to a person skilled in the art that the solution of the present application may be implemented by means of software and/or hardware. "Unit" and "module" in this specification refer to software and/or hardware capable of performing a specific function, either alone or in combination with other components, such as Field programmable gate arrays (Field-ProgrammaBLE Gate Array, FPGAs), integrated circuits (Integrated Circuit, ICs), etc.

It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, such as the division of the units, merely a logical function division, and there may be additional manners of dividing the actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some service interface, device or unit indirect coupling or communication connection, electrical or otherwise.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a memory, including several instructions for causing an electronic device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned memory includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Those of ordinary skill in the art will appreciate that all or a portion of the steps in the various methods of the above embodiments may be performed by hardware associated with a program that is stored in a computer readable memory, which may include: flash disk, read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), magnetic or optical disk, and the like.

The foregoing is merely exemplary embodiments of the present disclosure and is not intended to limit the scope of the present disclosure. That is, equivalent changes and modifications are contemplated by the teachings of this disclosure, which fall within the scope of the present disclosure. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a scope and spirit of the disclosure being indicated by the claims.

Claims

The pose deviation obtaining method is characterized by comprising the following steps of:

The method comprises the steps of obtaining a first three-dimensional coordinate of a first laser radar measured by aiming at a calibration plate under the reference pose of a calibration station, and placing at least three calibration plates which are identical in size and not positioned on the same straight line in a calibration view field corresponding to the calibration station, wherein the first laser radar is a laser radar with accurate internal parameter calibration and ranging precision reaching the reference requirement;

acquiring a second three-dimensional coordinate measured by the laser radar to be calibrated, which is mounted to a structure, aiming at the calibration plate, wherein the structure is arranged on the calibration station;

acquiring first pose deviations of the first laser radar and the laser radar to be calibrated based on the first three-dimensional coordinates and the second three-dimensional coordinates;

and determining the pose deviation of the current pose of the laser radar to be calibrated and the reference pose based on the first pose deviation.
The method for acquiring pose deviation according to claim 1, wherein the acquiring the first three-dimensional coordinates of the first laser radar measured for the calibration plate at the reference pose of the calibration station comprises:

fixing the first laser radar to a reference pose of a calibration station;

and acquiring a plurality of first three-dimensional coordinates measured by the first laser radar for the calibration plates, calculating an average value of the plurality of first three-dimensional coordinates, and taking the average value as the first three-dimensional coordinates of each calibration plate.
The method according to claim 1, wherein the acquiring the second three-dimensional coordinates measured by the laser radar to be calibrated, which has been mounted to the structure, for the calibration plate includes:

fixing the structure provided with the laser radar to be calibrated to a calibration station;

and acquiring a plurality of second three-dimensional coordinates measured by the laser radar to be calibrated aiming at the calibration plates, calculating an average value of the plurality of second three-dimensional coordinates, and taking the average value as the second three-dimensional coordinates of each calibration plate.
The method for acquiring pose bias according to claim 1, wherein the acquiring the first pose bias of the first lidar and the lidar to be calibrated based on the first three-dimensional coordinate and the second three-dimensional coordinate includes:

constructing a first objective function based on the first three-dimensional coordinates and the second three-dimensional coordinates;

and solving the first objective function to obtain first pose deviations of the first laser radar and the laser radar to be calibrated.
The method according to claim 4, wherein the constructing a first objective function based on the first three-dimensional coordinates and the second three-dimensional coordinates includes:

The first objective function is:

wherein N is the number of the calibration plates, p _i For the first three-dimensional coordinate, p 'of the ith calibration plate' _i And R is a rotation matrix, and t is a translation vector for the second three-dimensional coordinate of the ith calibration plate.
The pose deviation obtaining method according to claim 1, wherein the determining the pose deviation of the current pose of the laser radar to be calibrated from the reference pose based on the first pose deviation includes:

and determining the first pose deviation as the pose deviation between the current pose of the laser radar to be calibrated and the reference pose.
The method according to claim 1, wherein if the first lidar and the lidar to be calibrated are different types of lidars, the method further comprises:

acquiring a third three-dimensional coordinate measured by a second laser radar aiming at the calibration plate under the reference pose of the calibration station, wherein the second laser radar and the laser radar to be calibrated are the same type of laser radar;

acquiring second pose deviations of the first laser radar and the second laser radar based on the first three-dimensional coordinates and the third three-dimensional coordinates;

The determining the pose deviation between the current pose of the laser radar to be calibrated and the reference pose based on the first pose deviation comprises the following steps:

and determining the pose deviation of the current pose and the reference pose of the laser radar to be calibrated based on the first pose deviation and the second pose deviation.
The method according to claim 7, wherein the acquiring the third three-dimensional coordinates of the second lidar measured for the calibration plate at the reference pose of the calibration station includes:

fixing the second laser radar to a reference pose of a calibration station;

and acquiring a plurality of third three-dimensional coordinates measured by the second laser radar for the calibration plates, calculating an average value of the plurality of third three-dimensional coordinates, and taking the average value as the third three-dimensional coordinate of each calibration plate.
The pose deviation obtaining method according to claim 7, wherein the obtaining the second pose deviations of the first and second lidars based on the first and third three-dimensional coordinates includes:

constructing a second objective function of the first three-dimensional coordinate and the third three-dimensional coordinate;

And solving the second objective function to obtain second pose deviations of the first laser radar and the second laser radar.
The method according to claim 9, wherein the constructing the second objective function of the first three-dimensional coordinate and the third three-dimensional coordinate includes:

the second objective function is:

wherein N is the number of the calibration plates, p _i For the first three-dimensional coordinate, p', of the ith calibration plate _i And R 'is a rotation matrix, and t' is a translation vector for the third three-dimensional coordinate of the ith calibration plate.
The method according to claim 7, wherein determining the pose bias of the current pose and the reference pose of the laser radar to be calibrated based on the first pose bias and the second pose bias comprises:

and calculating the difference value of the first pose deviation and the second pose deviation, and determining the difference value as the pose deviation of the current pose and the reference pose of the laser radar to be calibrated.
The utility model provides a pose deviation acquisition device which characterized in that includes:

the first coordinate acquisition module is used for acquiring a first three-dimensional coordinate of a first laser radar measured by aiming at a calibration plate under the reference pose of a calibration station, at least three calibration plates which are the same in size and are not positioned on the same straight line are arranged in a calibration view field corresponding to the calibration station, and the first laser radar is a laser radar with accurate internal parameter calibration and ranging precision reaching the reference requirement;

The second coordinate acquisition module is used for acquiring a second three-dimensional coordinate measured by the laser radar to be calibrated, which is mounted to the structure, aiming at the calibration plate, and the structure is arranged on the calibration station;

the first deviation acquisition module is used for acquiring first pose deviations of the first laser radar and the laser radar to be calibrated based on the first three-dimensional coordinates and the second three-dimensional coordinates;

and the pose deviation determining module is used for determining the pose deviation between the current pose of the laser radar to be calibrated and the reference pose based on the first pose deviation.
The pose deviation obtaining device according to claim 12, wherein the first coordinate obtaining module is specifically configured to:

fixing the first laser radar to a reference pose of a calibration station;

and acquiring a plurality of first three-dimensional coordinates measured by the first laser radar aiming at the calibration plates, calculating an average value of the plurality of first three-dimensional coordinates, and taking the average value as the first three-dimensional coordinates of each calibration plate.
The pose deviation obtaining device according to claim 12, wherein the second coordinate obtaining module is specifically configured to:

fixing the structure provided with the laser radar to be calibrated to a calibration station;

And acquiring a plurality of second three-dimensional coordinates measured by the laser radar to be calibrated aiming at the calibration plates, calculating the average value of the plurality of second three-dimensional coordinates, and taking the average value as the second three-dimensional coordinates of each calibration plate.
The pose deviation obtaining device of claim 12 wherein the first deviation obtaining module comprises:

a first function construction unit configured to construct a first objective function based on the first three-dimensional coordinates and the second three-dimensional coordinates;

the first deviation calculation unit is used for solving the first objective function to obtain first pose deviations of the first laser radar and the laser radar to be calibrated.
The pose deviation obtaining device according to claim 15, wherein the first function construction unit is specifically configured to:

the first objective function is:

wherein N is the number of the calibration plates, p _i For the first three-dimensional coordinate, p 'of the ith calibration plate' _i And R is a rotation matrix, and t is a translation vector for the second three-dimensional coordinate of the ith calibration plate.
The pose deviation obtaining device according to claim 12, wherein the pose deviation determining module is specifically configured to:

and determining the first pose deviation as the pose deviation between the current pose of the laser radar to be calibrated and the reference pose.
The pose deviation obtaining apparatus according to claim 12, wherein if the first lidar and the lidar to be calibrated are different types of lidars, the apparatus further comprises:

the third coordinate acquisition module is used for acquiring a third three-dimensional coordinate measured by a second laser radar aiming at the calibration plate under the reference pose of the calibration station, and the second laser radar and the laser radar to be calibrated are the same type of laser radar;

a second deviation acquisition module for acquiring second pose deviations of the first and second lidars based on the first and third three-dimensional coordinates;

the pose deviation determining module is further configured to:

and determining the pose deviation of the current pose and the reference pose of the laser radar to be calibrated based on the first pose deviation and the second pose deviation.
The pose deviation obtaining device according to claim 18, wherein the third coordinate obtaining module is specifically configured to:

fixing the second laser radar to a reference pose of a calibration station;

and acquiring a plurality of third three-dimensional coordinates measured by the second laser radar aiming at the calibration plates, calculating an average value of the plurality of third three-dimensional coordinates, and taking the average value as the third three-dimensional coordinates of each calibration plate.
The pose deviation obtaining device of claim 18 wherein the second deviation obtaining module comprises:

a second function construction unit configured to construct a second objective function of the first three-dimensional coordinates and the third three-dimensional coordinates;

and the second deviation calculation unit is used for solving the second objective function to obtain second pose deviations of the first laser radar and the second laser radar.
The pose deviation obtaining device according to claim 20, wherein the second function construction unit is specifically configured to:

the second objective function is:

wherein N is the number of the calibration plates, p _i For the first three-dimensional coordinate, p', of the ith calibration plate _i And R 'is a rotation matrix, and t' is a translation vector for the third three-dimensional coordinate of the ith calibration plate.
The pose deviation obtaining device according to claim 18, wherein the pose deviation determining module is specifically configured to:

and calculating the difference value of the first pose deviation and the second pose deviation, and determining the difference value as the pose deviation of the current pose and the reference pose of the laser radar to be calibrated.
A storage medium having stored thereon a computer program, which when executed by a processor performs the steps of the method according to any of claims 1 to 11.
An electronic device, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the steps of the method according to any one of claims 1-11.