WO2020237418A1 - 坐标校正方法、装置、计算设备及计算机存储介质 - Google Patents

坐标校正方法、装置、计算设备及计算机存储介质 Download PDF

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WO2020237418A1
WO2020237418A1 PCT/CN2019/088304 CN2019088304W WO2020237418A1 WO 2020237418 A1 WO2020237418 A1 WO 2020237418A1 CN 2019088304 W CN2019088304 W CN 2019088304W WO 2020237418 A1 WO2020237418 A1 WO 2020237418A1
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Prior art keywords
point cloud
coordinates
angle error
cloud coordinates
targets
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PCT/CN2019/088304
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English (en)
French (fr)
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王吉
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深圳市速腾聚创科技有限公司
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Priority to CN201980002281.5A priority Critical patent/CN112292611A/zh
Priority to PCT/CN2019/088304 priority patent/WO2020237418A1/zh
Publication of WO2020237418A1 publication Critical patent/WO2020237418A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • 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

Definitions

  • This application relates to the field of information processing technology, and in particular to a coordinate correction method, device, computing device and computer storage medium.
  • Installation error includes position error and angle error.
  • the position error of the lidar is generally a few tenths of a millimeter, and the error of the body is a few millimeters.
  • the position error of the lidar is average Relatively small, the installation error correction does not greatly improve the overall error, and the position error has little effect on the accuracy of the mid-to-long distance point cloud. Therefore, in the actual error correction, the position error of the lidar is usually not corrected. Only correct for the angle error of the lidar.
  • the angle error correction generally adopts artificial and mechanical adjustment of the installation angle of the lidar, that is, the installation angle of the lidar is repeatedly adjusted multiple times according to the error between the acquired point cloud coordinates and the actual point cloud coordinates.
  • This mechanical adjustment method cannot guarantee the accuracy of the adjustment and is time-consuming.
  • the time for each vehicle to complete the calibration on the production line is very short, and repeated adjustments to the installation angle of lidar will increase production costs.
  • the purpose of the embodiments of the present application is to provide a coordinate correction method, device, computing device, and computer storage medium to correct the acquired point cloud coordinates and ensure the authenticity of the point cloud coordinates.
  • the embodiment of this application provides a coordinate correction method, which includes the following steps:
  • calculating the angle error based on the point cloud coordinates and the actual coordinates of the target includes: respectively according to the actual coordinates A'(x 1 ', y 1 ', z 1 'of the two targets) ), B'(x 2 ',y 2 ',z 2 ') and the point cloud coordinates of the two targets A(x 1 ,y 1 ,z 1 ), B(x 2 ,y 2 ,z 2 ), Determine the following program:
  • the angle errors ⁇ x, ⁇ y, ⁇ z are calculated according to the formula.
  • the preset targets are two targets symmetrically arranged at the same height on the same plane, and the actual coordinates of the two targets are A'(x 1 ', 0, R) and B'(-x 1 ', 0, R), where R is the distance between the point cloud acquisition device and the plane.
  • calculating the angle error based on the point cloud coordinates and actual coordinates of the target is specifically:
  • the correcting the obtained point cloud coordinates according to the angle error includes: determining a rotation matrix according to the angle error; and correcting the obtained point cloud coordinates according to the rotation matrix.
  • correcting the obtained point cloud coordinates according to the rotation matrix specifically includes: correcting the obtained point cloud coordinates according to the following formula:
  • P′ represents the actual coordinates
  • P represents the obtained point cloud coordinates
  • Rx, Ry, and Rz respectively represent the rotation matrix of the point cloud coordinates with respect to the X axis, the Y axis, and the Z axis.
  • the embodiment of the present application also provides a coordinate correction device, including: a first acquisition module, configured to acquire the preset point cloud coordinates of the target.
  • the second acquisition module is used to acquire the actual coordinates of the target.
  • the calculation module is used to calculate the angle error based on the point cloud coordinates and actual coordinates of the target.
  • Correction module used to correct the acquired point cloud coordinates according to the angle error.
  • the calculation module is further used to: respectively according to the actual coordinates of the two targets A'(x 1 ',y 1 ',z 1 '), B'(x 2 ',y 2 ' ,z 2 ') and the point cloud coordinates A(x 1 ,y 1 ,z 1 ) and B(x 2 ,y 2 ,z 2 ) of the two targets, determine the following formula:
  • the angle errors ⁇ x, ⁇ y, ⁇ z are calculated according to the formula.
  • the preset targets are two targets symmetrically arranged at the same height on the same plane, and the actual coordinates of the two targets are A'(x 1 ', 0, R) and B'(-x 1 ', 0, R), where R is the distance between the point cloud acquisition device and the plane, and the calculation module is further used for:
  • the correction module is further configured to: determine a rotation matrix according to the angle error; and correct the acquired point cloud coordinates according to the rotation matrix.
  • the correction module is further configured to: correct the acquired point cloud coordinates according to the following formula:
  • P′ represents the actual coordinates
  • P represents the obtained point cloud coordinates
  • Rx, Ry, and Rz respectively represent the rotation matrix of the point cloud coordinates with respect to the X axis, the Y axis, and the Z axis.
  • the embodiment of the present application also provides a computing device, including: a processor, a memory, a communication interface, and a communication bus, and the processor, the memory, and the communication interface complete mutual communication through the communication bus;
  • the memory is used to store at least one executable instruction, and the executable instruction causes the processor to perform an operation corresponding to the aforementioned coordinate correction method.
  • the embodiment of the present application also provides a computer program product, the computer program product includes a computer program stored on a computer storage medium, the computer program includes program instructions, when the program instructions are executed by a computer, The computer executes operations corresponding to the aforementioned coordinate correction method.
  • the embodiment of the present application also provides a computer storage medium in which at least one executable instruction is stored, and the executable instruction causes a processor to perform an operation corresponding to the aforementioned coordinate correction method.
  • the angle error is calculated by the acquired point cloud coordinates and actual coordinates of the target, and the acquired point cloud coordinates are corrected by the angle error, thereby ensuring the authenticity of the acquired point cloud coordinates.
  • the embodiment of the present invention avoids repeatedly adjusting the installation angle of the lidar and reduces the time-consuming calibration. When a vehicle equipped with a lidar enters the production line for mass production, the calibration speed is accelerated and the production cost is saved.
  • Fig. 1 is a flowchart of a coordinate correction method according to the first embodiment of the present application
  • Figure 1a is a top view of a target setting position according to a specific embodiment of a coordinate correction method of the present application
  • Fig. 1b is a front view of a target setting position according to a specific embodiment of a coordinate correction method of the present application
  • Fig. 2 is a flowchart of a coordinate correction method according to the second embodiment of the present application.
  • FIG. 3 is a functional block diagram of a coordinate correction device according to the third embodiment of the present application.
  • Fig. 4 is a schematic structural diagram of a computing device according to a fourth embodiment of the present application.
  • the application environment of the coordinate correction method in the embodiment of the present invention may be the installation error correction of the lidar installed on a vehicle or other platform, or the installation error correction of other point cloud acquisition devices that need to be installed error correction.
  • the lidar is installed on a vehicle or other platform, the point cloud coordinates corresponding to the object in the actual environment can be obtained by launching laser.
  • the installation angle of lidar is different, and the same obtained
  • the point cloud coordinates of the same object at the location are different. Due to the installation error, there is an error between the acquired point cloud coordinates and the actual coordinates of the object.
  • the error of the point cloud coordinates and actual coordinates of any two objects acquired by the same lidar is the same.
  • By calculating the mapping relationship between the point cloud coordinates and the actual coordinates the acquired point cloud coordinates are corrected.
  • the following takes lidar as an example to describe each embodiment in detail.
  • the first embodiment of the present application relates to a coordinate correction method.
  • the specific process is shown in Figure 1.
  • This embodiment specifically includes:
  • Step 110 Obtain the preset point cloud coordinates of the target.
  • the preset targets are two objects preset within the scanning range of the lidar.
  • the preset number of targets is two.
  • the embodiment of the present invention takes two preset targets as an example for description.
  • Lidar obtains the point cloud coordinates of two targets by emitting laser light.
  • the point cloud coordinates are coordinates obtained in a space coordinate system, and the origin of the space coordinate system is the installation position of the lidar.
  • Step 120 Obtain the actual coordinates of the target.
  • the actual coordinates of the target are the determined values.
  • the acquisition of the actual coordinates of the target is also based on the spatial coordinate system with the installation position of the lidar as the origin.
  • the actual coordinates of the target can be measured manually or by using a measuring instrument, and the present invention is not limited to this.
  • Step 130 Calculate the angle error based on the point cloud coordinates of the target and the actual coordinates.
  • the mapping relationship between the point cloud coordinates and actual coordinates of the two targets is consistent. According to the mapping relationship between the point cloud coordinates and time coordinates of the two targets, the point cloud coordinates of the target are obtained Correspondence with actual coordinates.
  • Rx, Ry, and Rz respectively represent the rotation matrix model of the point cloud coordinates about the X axis, the Y axis, and the Z axis.
  • an equation set consisting of six nonlinear equations can be obtained after expansion, which contains three unknowns.
  • the calculated angle error ⁇ x, ⁇ y, ⁇ z can be obtained.
  • the two preset targets are located at the same height on the same plane and are symmetrically arranged.
  • the two targets are symmetrical about the projection of the lidar on the plane, denoted by R
  • the distance between the lidar and the plane, the actual coordinates of the two targets can be expressed as A'(x 1 ', 0, R) and B'(-x 1 ', 0, R), need to explain, the coordinate representation method It is based on the plane being the XOZ plane. Since each coordinate axis is set relative to each other in the spatial coordinate system, this method is also applicable when the target is located on other planes, and only the corresponding coordinate values need to be adjusted.
  • the angle error is calculated according to the point cloud coordinates A (x 1 , y 1 , z 1 ) and B (x 2 , y 2 , z 2 ) of the two targets Calculate the angle error based on the angle error ⁇ z and the point cloud coordinates A (x 1 , y 1 , z 1 ) of one of the targets
  • the two preset targets are located on the same plane, at the same height as the center of the plane, and Symmetrical about the center of the plane; the body of the vehicle is perpendicular to the plane, and the center of the plane is aligned with the center of the lidar mounted on the vehicle.
  • the top view of the setting position of the specific target is shown in Fig. 1a, and the front view of the setting position of the specific target is shown in Fig. 1b.
  • the distance between the laser radar installation position and the plane is R
  • the angle formed between the laser radar and the center of the plane and the two targets are ⁇ and - ⁇
  • the distance between the two targets The actual coordinates are A'(Rtan ⁇ ,0,R) and B'(-Rtan ⁇ ,0,R) respectively.
  • the calculation is based on the above
  • the angle error formula is the angle error of the lidar installed on the vehicle.
  • Step 140 Correct the acquired point cloud coordinates according to the angle error.
  • step 130 according to the result obtained in step 130, any point cloud obtained is corrected.
  • the angle error is calculated by the acquired point cloud coordinates and actual coordinates of the target, and the acquired point cloud coordinates are corrected by the angle error, thereby ensuring the authenticity of the acquired point cloud coordinates.
  • the embodiment of the present invention avoids repeatedly adjusting the installation angle of the lidar many times, and when the vehicle equipped with the lidar enters the production line for mass production, the production cost is saved.
  • step 140 further includes the following steps:
  • Step 210 Determine the rotation matrix according to the angle error.
  • the rotation matrix is the rotation matrix of the point cloud coordinates, and the point cloud coordinates are passed through the rotation matrix to obtain the actual coordinates corresponding to the point cloud coordinates.
  • the rotation angle of the rotation matrix is an angular error.
  • Step 220 Correct the obtained point cloud coordinates according to the rotation matrix.
  • P′ represents the actual coordinates
  • P represents the obtained point cloud coordinates
  • Rx, Ry, and Rz respectively represent the rotation matrix of the point cloud coordinates with respect to the X axis, the Y axis, and the Z axis.
  • the preset position information of the test target in the point cloud is tested by lidar, and then compared with the actual position information of the actual target, and then the angle error is calculated, and the rotation matrix is calculated through the angle error.
  • the correction of the measurement results is achieved through software correction, which greatly facilitates the use and installation of lidar.
  • the calculation of the angle error is simplified, and the correction of the measurement result is facilitated.
  • the third embodiment of the present application relates to a coordinate correction device.
  • the coordinate correction device includes: a first acquisition module 310, a second acquisition module 320, a calculation module 330, and a correction module 340.
  • the first obtaining module 310 is used to obtain the point cloud coordinates of the preset target.
  • the second acquiring module 320 is used to acquire the actual coordinates of the target.
  • the calculation module 330 is used to calculate the angle error based on the point cloud coordinates and actual coordinates of the target.
  • the correction module 340 is configured to correct the acquired point cloud coordinates according to the angle error.
  • the calculation module 330 is further configured to: respectively according to the actual coordinates of the two targets A'(x 1 ',y 1 ',z 1 '), B'(x 2 ',y 2 ',z 2 ') and the point cloud coordinates A(x 1 ,y 1 ,z 1 ) and B(x 2 ,y 2 ,z 2 ) of the two targets, determine the following formula:
  • the angle errors ⁇ x, ⁇ y, ⁇ z are calculated according to the formula.
  • the preset targets are two targets symmetrically arranged at the same height on the same plane, and the actual coordinates of the two targets are A'(x 1 ', 0, R) and B'(-x 1 ', 0, R), where R is the distance between the point cloud acquisition device and the plane, and the calculation module 330 is further configured to:
  • the correction module 340 is further configured to: determine a rotation matrix according to the angle error; and correct the acquired point cloud coordinates according to the rotation matrix.
  • the correction module 340 is further configured to: correct the acquired point cloud coordinates according to the following formula:
  • P′ represents the actual coordinates
  • P represents the obtained point cloud coordinates
  • Rx, Ry, and Rz respectively represent the rotation matrix of the point cloud coordinates with respect to the X axis, the Y axis, and the Z axis.
  • This embodiment is a device embodiment corresponding to the methods of the first embodiment and the second embodiment, and this embodiment can be implemented in cooperation with the first embodiment and the second embodiment.
  • the related technical details mentioned in the first embodiment and the second embodiment are still valid in this embodiment, and in order to reduce repetition, they will not be repeated here.
  • the point cloud coordinates and actual coordinates of the preset target are respectively acquired through the first acquisition module 310 and the second acquisition module 320, the angle error is calculated by the calculation module 330, and the acquired point cloud coordinates are calculated by the correction module 340. Correction to ensure the authenticity of the obtained point cloud coordinates.
  • FIG. 4 is a schematic structural diagram of a computing device provided by an embodiment of the present application.
  • the computing device includes: a processor (processor) 402, a communication interface (Communications Interface) 404, a memory (memory) 406, and Communication bus 408.
  • processor processor
  • Communication interface Communication interface
  • memory memory
  • the processor 402, the communication interface 404, and the memory 406 communicate with each other through the communication bus 408.
  • the communication interface 404 is used to communicate with network elements of other devices, such as clients or other servers.
  • the processor 402 is configured to execute a program 410, and specifically can execute relevant steps in the foregoing embodiment of the coordinate correction method.
  • the program 410 may include program code, and the program code includes computer operation instructions.
  • the processor 402 may be a central processing unit CPU, or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention.
  • the one or more processors included in the computing device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.
  • the memory 406 is used to store the program 410.
  • the memory 406 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
  • the program 410 may be specifically used to cause the processor 402 to perform the following operations:
  • the program 410 may also be specifically used to cause the processor 402 to perform the following operations:
  • the angle errors ⁇ x, ⁇ y, ⁇ z are calculated according to the formula.
  • the preset targets are two targets located at the same height on the same plane and arranged symmetrically, and the actual coordinates of the two targets are A'(x 1 ', 0 , R) and B'(-x 1 ', 0, R), where R is the distance between the point cloud acquisition device and the plane.
  • the program 410 may also be specifically used to cause the processor 402 to perform the following operations:
  • the program 410 may also be specifically used to cause the processor 402 to perform the following operations:
  • the program 410 may also be specifically used to cause the processor 402 to perform the following operations:
  • P′ represents the actual coordinates
  • P represents the obtained point cloud coordinates
  • Rx, Ry, and Rz respectively represent the rotation matrix of the point cloud coordinates with respect to the X axis, the Y axis, and the Z axis.
  • the computing devices in the implementation of this application exist in various forms, including but not limited to:
  • Mobile communication equipment This type of equipment is characterized by mobile communication functions, and its main goal is to provide voice and data communications.
  • Such terminals include: smart phones (such as iPhone), multimedia phones, functional phones, and low-end phones.
  • Ultra-mobile personal computer equipment This type of equipment belongs to the category of personal computers, has calculation and processing functions, and generally also has mobile Internet features.
  • Such terminals include: PDA, MID and UMPC devices, such as iPad.
  • Portable entertainment equipment This type of equipment can display and play multimedia content.
  • Such devices include: audio, video players (such as iPod), handheld game consoles, e-books, as well as smart toys and portable car navigation devices.
  • Server A device that provides computing services.
  • the composition of a server includes a processor, hard disk, memory, system bus, etc.
  • the server is similar to a general computer architecture, but due to the need to provide highly reliable services, it is in terms of processing capacity and stability. , Reliability, security, scalability, and manageability.
  • the embodiment of the present invention provides a computer program product, the computer program product includes a computer program stored on a computer storage medium, the computer program includes program instructions, when the program instructions are executed by a computer, the computer Perform the steps in any of the foregoing method embodiments, for example, perform the method steps 110 to 140 in FIG. 1 described above, the method steps 210 to 220 in FIG. 2, and implement the functions of the modules 310-340 in FIG. 3.
  • the embodiment of the present application provides a non-volatile computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, such as the above description
  • the method steps 110 to 140 in FIG. 1, the method steps 210 to 220 in FIG. 2, and the functions of the modules 310-340 in FIG. 3 are realized.
  • the device implementations described above are merely illustrative, where the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the objectives of the solutions of this embodiment.
  • each implementation manner can be implemented by software plus a general hardware platform, and of course, it can also be implemented by hardware.
  • All or part of the processes in the above-mentioned implementation methods can be implemented by computer programs instructing relevant hardware.
  • the programs can be stored in a computer readable storage medium. During execution, it may include the processes of the implementation manners of the above methods.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

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Abstract

本申请涉及信息处理技术领域，公开了一种坐标校正方法、装置、计算设备及计算机存储介质。本申请的坐标校正方法，包括：获取预先设置的标靶的点云坐标；获取所述标靶的实际坐标；通过所述标靶的点云坐标和实际坐标计算角度误差；根据所述角度误差对获取的点云坐标进行校正。本申请实施方式通过获取的两个标靶的点云坐标和实际坐标计算角度误差，通过角度误差对获取的点云坐标进行校正，从而保证了获取的点云坐标的真实性。

Description

坐标校正方法、装置、计算设备及计算机存储介质 技术领域
本申请涉及信息处理技术领域，特别涉及一种坐标校正方法、装置、计算设备及计算机存储介质。
背景技术
激光雷达在进行点云测量时，由于安装误差的存在，测量到的点云坐标与实际的点云坐标存在一定的误差。安装误差包括位置误差和角度误差两种，当激光雷达安装在车上时，激光雷达的位置误差一般是零点几毫米，车身的误差有几毫米，相比较车身而言，激光雷达的位置误差一般比较小，安装误差的校正对于整体误差而言，并没有较大改善，且位置误差对于中远距离的点云精度影响较小，因此，在实际误差校正时，通常不对激光雷达的位置误差校正，仅针对激光雷达的角度误差进行校正。
现有技术中，对于角度误差的校正一般采用人为机械式的调整激光雷达的安装角度，即根据获取到的点云坐标与实际点云坐标之间的误差反复多次调整激光雷达的安装角度。这种机械式的调整方式无法保证调整的精确性，而且费时。当搭载激光雷达的车辆进行量产时，每辆车在产线上能够完成标定的时间非常短，反复多次调整激光雷达的安装角度会增加生产成本。
发明内容
本申请实施方式的目的在于提供一种坐标校正方法、装置、计算设备及计算机存储介质，对获取到的点云坐标进行校正，保证了点云坐标的真实性。
为解决上述技术问题，本申请的实施方式提供了一种坐标校正方法，包含以下步骤：
获取预先设置的标靶的点云坐标；
获取所述标靶的实际坐标；
通过所述标靶的点云坐标和实际坐标计算角度误差；
根据所述角度误差对获取的点云坐标进行校正。
在一种可选的方式中，通过所述标靶的点云坐标和实际坐标计算角度误差，包括：分别根据两个标靶的实际坐标A'(x 1',y 1',z 1')，B'(x 2',y 2',z 2')和两个标靶的点云坐标A(x 1,y 1,z 1)，B(x 2,y 2,z 2)，确定如下程式：
Figure PCTCN2019088304-appb-000001
其中，
Figure PCTCN2019088304-appb-000002
Figure PCTCN2019088304-appb-000003
Figure PCTCN2019088304-appb-000004
根据所述程式计算所述角度误差θx、θy、θz。
在一种可选的方式中，所述预先设置的标靶为位于同一平面的同一高度，且对称设置的两个标靶，所述两个标靶的实际坐标为A'(x 1'，0，R)和B'(-x 1'，0，R)，其中R为点云获取设备与所述平面的距离。
在一种可选的方式中，通过所述标靶的点云坐标和实际坐标计算角度误差具体为：
根据所述两个标靶的点云坐标A(x 1，y 1，z 1)，B(x 2，y 2，z 2)计算角度误差
Figure PCTCN2019088304-appb-000005
根据所述角度误差θz和其中一个标靶的点云坐标A(x 1，y 1，z 1)计算角度误差
Figure PCTCN2019088304-appb-000006
在一种可选的方式中，所述根据所述角度误差对获取的点云坐标进行校正， 包括：根据所述角度误差确定旋转矩阵；根据所述旋转矩阵对获取的点云坐标进行校正。
在一种可选的方式中，根据所述旋转矩阵对获取的点云坐标进行校正具体为：根据如下公式对获取的点云坐标进行校正：
P' T＝Rx·Ry·Rz·P T
其中，P'表示实际坐标，P表示获取的点云坐标，Rx、Ry、Rz分别表示所述点云坐标关于X轴、Y轴、Z轴的旋转矩阵。
本申请的实施方式还提供了一种坐标校正装置，包括：第一获取模块，用于获取预先设置的标靶的点云坐标。第二获取模块，用于获取所述标靶的实际坐标。计算模块，用于通过所述标靶的点云坐标和实际坐标计算角度误差。校正模块：用于根据所述角度误差对获取的点云坐标进行校正。
在一种可选的方式中，计算模块进一步用于：分别根据两个标靶的实际坐标A'(x 1',y 1',z 1')，B'(x 2',y 2',z 2')和两个标靶的点云坐标A(x 1,y 1,z 1)，B(x 2,y 2,z 2)，确定如下程式：
Figure PCTCN2019088304-appb-000007
其中，
Figure PCTCN2019088304-appb-000008
Figure PCTCN2019088304-appb-000009
Figure PCTCN2019088304-appb-000010
根据所述程式计算所述角度误差θx、θy、θz。
在一种可选的方式中，所述预先设置的标靶为位于同一平面的同一高度，且对称设置的两个标靶，所述两个标靶的实际坐标为A'(x 1'，0，R)和B'(-x 1'， 0，R)，其中R为点云获取设备与所述平面的距离，所述计算模块进一步用于：
根据所述两个标靶的点云坐标A(x 1，y 1，z 1)，B(x 2，y 2，z 2)计算角度误差
Figure PCTCN2019088304-appb-000011
根据所述角度误差θz和其中一个标靶的点云坐标A(x 1，y 1，z 1)计算角度误差
Figure PCTCN2019088304-appb-000012
在一种可选的方式中，校正模块进一步用于：根据所述角度误差确定旋转矩阵；根据所述旋转矩阵对获取的点云坐标进行校正。
在一种可选的方式中，校正模块进一步用于：根据如下公式对获取的点云坐标进行校正：
P' T＝Rx·Ry·Rz·P T
其中，P'表示实际坐标，P表示获取的点云坐标，Rx、Ry、Rz分别表示所述点云坐标关于X轴、Y轴、Z轴的旋转矩阵。
本申请的实施方式还提供了一种计算设备，包括：处理器、存储器、通信接口和通信总线，所述处理器、所述存储器和所述通信接口通过所述通信总线完成相互间的通信；所述存储器用于存放至少一可执行指令，所述可执行指令使所述处理器执行上述的一种坐标校正方法对应的操作。
本申请的实施方式还提供了一种计算机程序产品，所述计算机程序产品包括存储在计算机存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行上述的一种坐标校正方法对应的操作。
本申请的实施方式还提供了一种计算机存储介质，所述存储介质中存储有至少一可执行指令，所述可执行指令使处理器执行上述的一种坐标校正方法对应的操作。
本发明实施例通过获取的标靶的点云坐标和实际坐标计算角度误差，通过角度误差对获取的点云坐标进行校正，从而保证了获取的点云坐标的真实性。此外，本发明实施例避免了反复多次调整激光雷达的安装角度，较少校正的费时，当搭载激光雷达的车辆进入产线量产时，加快了标定速度，节约了生产成 本。
附图说明
一个或多个实施方式通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施方式的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是根据本申请第一实施方式的一种坐标校正方法的流程图；
图1a是根据本申请一种坐标校正方法中一个具体实施例的标靶设置位置的俯视图；
图1b是根据本申请一种坐标校正方法中一个具体实施例的标靶设置位置的正视图；
图2是根据本申请第二实施方式的一种坐标校正方法的流程图；
图3是根据本申请第三实施方式的一种坐标校正装置的功能框图；
图4是根据本申请第四实施方式的一种计算设备的结构示意图。
具体实施方式
为使本申请实施方式的目的、技术方案和优点更加清楚，下面将结合附图对本申请的各实施方式进行详细的阐述。然而，本领域的普通技术人员可以理解，在本申请各实施方式中，为了使读者更好地理解本申请而提出了许多技术细节。但是，即使没有这些技术细节和基于以下各实施方式的种种变化和修改，也可以实现本申请所要求保护的技术方案。
本发明实施例中的坐标校正方法的应用环境可以是安装于车辆或其他平台上的激光雷达的安装误差校正，也可以是其他需要进行安装误差校正的点云获取设备的安装误差校正。以激光雷达为例，当激光雷达安装到某一车辆或其他平台后，可以通过发射激光的方式获取到与实际环境中的物体对应的点云坐标，激光雷达的安装角度不同，获取到的同一位置的同一物体的点云坐标不同，由于安装误差的存在，获取到的点云坐标与物体实际坐标存在误差。同一激光雷达获取到的任意两个物体的点云坐标和实际坐标的误差是一致的，通过计算点 云坐标和实际坐标之间的映射关系，对获取到的任一点云坐标进行校正。下面以激光雷达为例，对各实施例进行具体说明。
本申请的第一实施方式涉及一种坐标校正方法。具体流程如图1所示，本实施方式具体包括：
步骤110：获取预先设置的标靶的点云坐标。
在本步骤中，预先设置的标靶是在激光雷达的扫描范围内预先设置的两个物体。优选的，预先设置的标靶数量为两个。本发明实施例以预先设置的标靶数量为两个为例进行说明。激光雷达通过发射激光的方式获取两个标靶的点云坐标。其中，点云坐标是在空间坐标系下获取到的坐标，该空间坐标系的原点为激光雷达的安装位置。
步骤120：获取标靶的实际坐标。
在本步骤中，标靶安装完成后，标靶的实际坐标就是确定值。标靶的实际坐标的获取同样基于以激光雷达的安装位置为原点的空间坐标系。在具体实施方式中，标靶的实际坐标可以人为测量，也可以使用测量仪器测量，本发明并不以此为限。
步骤130：通过标靶的点云坐标和实际坐标计算角度误差。
在本步骤中，两个标靶的点云坐标和实际坐标之间的映射关系是一致的，根据两个标靶的点云坐标和时间坐标之间的映射关系，得到标靶的点云坐标和实际坐标的对应关系。
假设两个标靶的实际坐标A'(x 1',y 1',z 1')，B'(x 2',y 2',z 2')和两个标靶的点云坐标A(x 1,y 1,z 1)，B(x 2,y 2,z 2)，根据实际坐标和点云坐标之间的映射关系，确定如下程式：
Figure PCTCN2019088304-appb-000013
其中，
Figure PCTCN2019088304-appb-000014
Figure PCTCN2019088304-appb-000015
Figure PCTCN2019088304-appb-000016
其中，Rx、Ry、Rz分别表示所述点云坐标关于X轴、Y轴、Z轴的旋转矩阵模型。根据上述程式，展开后可以得到由六个非线性方程组成的方程组，里面含有三个未知数，通过求解该方程组可以得到计算角度误差θx、θy、θz。在一种具体的实施方式中，预先设置的两个标靶位于同一平面的同一高度，且对称设置，在具体实施方式中，两个标靶关于激光雷达在平面上的投影对称，用R表示激光雷达与平面的距离，则两个标靶的实际坐标可以表示为A'(x 1'，0，R)和B'(-x 1'，0，R)，需要说明，该坐标表示方法是基于平面为XOZ面，由于在空间坐标系中，各坐标轴是相对设置的，因此，该方法标靶位于其他面的情况也是同样适用的，只需要调整相应的坐标值即可。在该具体实施方式中，根据两个标靶的点云坐标A(x 1，y 1，z 1)，B(x 2，y 2，z 2)计算角度误差
Figure PCTCN2019088304-appb-000017
Figure PCTCN2019088304-appb-000018
根据角度误差θz和其中一个标靶的点云坐标A(x 1，y 1，z 1)计算角度误差
Figure PCTCN2019088304-appb-000019
在一种具体的应用场景中，当搭载激光雷达的车辆在产线上进行激光雷达的安装误差校正时，预先设置的两个标靶位于同一平面上，与该平面的中心位于同一高度，且关于该平面的中心对称；车辆的车身与该平面垂直，且该平面的中心与车辆搭载的激光雷达的中心对准。具体标靶的设置位置的俯视图如图1a所示，具体标靶的设置位置的正视图如图1b所示。
当预先设置的两个标靶与车身及车辆搭载的激光雷达的位置不满足上述条件时，通过龙门吊调整平面的位置，用以调整两个标靶的位置，使其满足上述条件；或者将车辆置于可调台架上，通过可调台架调整车身的位置和角度，使其满足上述条件。
在完成标靶设置后，假设激光雷达安装位置与该平面的距离为R，激光雷达和该平面中心与两个标靶之间形成的夹角分别为ɑ和-ɑ，则两个标靶的实际坐标分别为A'(Rtanɑ，0，R)和B'(-Rtanɑ，0，R)，根据两个标靶的实际坐标和激光雷达获取的两个标靶的点云坐标，按照上述计算角度误差的公式，得到安装于车辆上的激光雷达的角度误差。
步骤140：根据角度误差对获取的点云坐标进行校正。
在本步骤中，根据步骤130得到的结果，对获取到的任一点云进行校正。
本发明实施例通过获取的标靶的点云坐标和实际坐标计算角度误差，通过角度误差对获取的点云坐标进行校正，从而保证了获取的点云坐标的真实性。此外，本发明实施例避免了反复多次调整激光雷达的安装角度，当搭载激光雷达的车辆进入产线量产时，节约了生产成本。
本申请的第二实施方式涉及一种坐标校正方法，如图2所示，步骤140进一步包括以下步骤：
步骤210：根据角度误差确定旋转矩阵。
在本步骤中，旋转矩阵是点云坐标的旋转矩阵，将点云坐标通过旋转矩阵，得到与点云坐标对应的实际坐标。在本实施方式中，旋转矩阵的旋转角为角度误差。
步骤220：根据旋转矩阵对获取的点云坐标进行校正。
在本步骤中，通过如下公式对获取的点云坐标进行校正：
P' T＝Rx·Ry·Rz·P T
其中，P'表示实际坐标，P表示获取的点云坐标，Rx、Ry、Rz分别表示所述点云坐标关于X轴、Y轴、Z轴的旋转矩阵。
本发明实施例通过激光雷达测试预先设置的测试标靶在点云中的位置信息，然后和实际中的标靶实际位置信息进行比对，进而计算出角度误差，通过角度误差计算旋转矩阵，进而通过软件修正的方式实现了对测量结果的校正，大大方便了激光雷达的使用和安装。同时，通过优化标靶的设置角度和设置位置，简化了角度误差的计算，方便了测量结果的校正。
本申请第三实施方式涉及一种坐标校正装置，如图3所示，坐标校正装置包括：第一获取模块310、第二获取模块320、计算模块330和校正模块340。其中，第一获取模块310用于获取预先设置的标靶的点云坐标。第二获取模块320，用于获取所述标靶的实际坐标。计算模块330，用于通过所述标靶的点云坐标和实际坐标计算角度误差。校正模块340，用于根据所述角度误差对获取的点云坐标进行校正。
在一种可选的方式中，计算模块330进一步用于：分别根据两个标靶的实际坐标A'(x 1',y 1',z 1')，B'(x 2',y 2',z 2')和两个标靶的点云坐标A(x 1,y 1,z 1)，B(x 2,y 2,z 2)，确定如下程式：
Figure PCTCN2019088304-appb-000020
其中，
Figure PCTCN2019088304-appb-000021
Figure PCTCN2019088304-appb-000022
Figure PCTCN2019088304-appb-000023
根据所述程式计算所述角度误差θx、θy、θz。
在一种可选的方式中，所述预先设置的标靶为位于同一平面的同一高度，且对称设置的两个标靶，所述两个标靶的实际坐标为A'(x 1'，0，R)和B'(-x 1'，0，R)，其中R为点云获取设备与所述平面的距离，所述计算模块330进一步用于：
根据所述两个标靶的点云坐标A(x 1，y 1，z 1)，B(x 2，y 2，z 2)计算角度误差
Figure PCTCN2019088304-appb-000024
根据所述角度误差θz和其中一个标 靶的点云坐标A(x 1，y 1，z 1)计算角度误差
Figure PCTCN2019088304-appb-000025
在一种可选的方式中，校正模块340进一步用于：根据所述角度误差确定旋转矩阵；根据所述旋转矩阵对获取的点云坐标进行校正。
在一种可选的方式中，校正模块340进一步用于：根据如下公式对获取的点云坐标进行校正：
P' T＝Rx·Ry·Rz·P T
其中，P'表示实际坐标，P表示获取的点云坐标，Rx、Ry、Rz分别表示所述点云坐标关于X轴、Y轴、Z轴的旋转矩阵。
本实施方式为与第一实施方式及第二实施方式的方法相对应的装置实施方式，本实施方式可与第一实施及第二实施方式互相配合实施。第一实施方式及第二实施方式中提到的相关技术细节在本实施方式中依然有效，为了减少重复，这里不再赘述。
本发明实施例通过第一获取模块310和第二获取模块320分别获取预先设置的标靶的点云坐标和实际坐标，通过计算模块330计算角度误差，通过校正模块340对获取的点云坐标进行校正，从而保证了获取的点云坐标的真实性。
图4是本申请实施方式提供的一种计算设备的结构示意图，如图4所示，该计算设备包括：处理器(processor)402、通信接口(Communications Interface)404、存储器(memory)406、以及通信总线408。
其中：
处理器402、通信接口404、以及存储器406通过通信总线408完成相互间的通信。
通信接口404，用于与其它设备比如客户端或其它服务器等的网元通信。
处理器402，用于执行程序410，具体可以执行上述一种坐标校正方法实施例中的相关步骤。
具体地，程序410可以包括程序代码，该程序代码包括计算机操作指令。
处理器402可能是中央处理器CPU，或者是特定集成电路ASIC(Application  Specific Integrated Circuit)，或者是被配置成实施本发明实施例的一个或多个集成电路。计算设备包括的一个或多个处理器，可以是同一类型的处理器，如一个或多个CPU；也可以是不同类型的处理器，如一个或多个CPU以及一个或多个ASIC。
存储器406，用于存放程序410。存储器406可能包含高速RAM存储器，也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。
程序410具体可以用于使得处理器402执行以下操作：
获取预先设置的标靶的点云坐标；
获取所述标靶的实际坐标；
通过所述标靶的点云坐标和实际坐标计算角度误差；
根据所述角度误差对获取的点云坐标进行校正。
程序410具体还可以用于使得处理器402执行以下操作：
分别根据两个标靶的实际坐标A'(x 1',y 1',z 1')，B'(x 2',y 2',z 2')和两个标靶的点云坐标A(x 1,y 1,z 1)，B(x 2,y 2,z 2)，确定如下程式：
Figure PCTCN2019088304-appb-000026
其中，
Figure PCTCN2019088304-appb-000027
Figure PCTCN2019088304-appb-000028
Figure PCTCN2019088304-appb-000029
根据所述程式计算所述角度误差θx、θy、θz。
在一种可选的实施方式中，预先设置的标靶为位于同一平面的同一高度，且对称设置的两个标靶，所述两个标靶的实际坐标为A'(x 1'，0，R)和B'(-x 1'，0，R)，其中R为点云获取设备与所述平面的距离。程序410具体还可以用于使得处理器402执行以下操作：
根据所述两个标靶的点云坐标A(x 1，y 1，z 1)，B(x 2，y 2，z 2)计算角度误差
Figure PCTCN2019088304-appb-000030
根据所述角度误差θz和其中一个标靶的点云坐标A(x 1，y 1，z 1)计算角度误差
Figure PCTCN2019088304-appb-000031
程序410具体还可以用于使得处理器402执行以下操作：
根据所述角度误差确定旋转矩阵；
根据所述旋转矩阵对获取的点云坐标进行校正。
程序410具体还可以用于使得处理器402执行以下操作：
根据如下公式对获取的点云坐标进行校正：
P' T＝Rx·Ry·Rz·P T
其中，P'表示实际坐标，P表示获取的点云坐标，Rx、Ry、Rz分别表示所述点云坐标关于X轴、Y轴、Z轴的旋转矩阵。
本申请实施方式的计算设备以多种形式存在，包括但不限于:
(1)移动通信设备:这类设备的特点是具备移动通信功能，并且以提供话音、数据通信为主要目标。这类终端包括:智能手机(例如iPhone)、多媒体手机、功能性手机，以及低端手机等。
(2)超移动个人计算机设备:这类设备属于个人计算机的范畴，有计算和处理功能，一般也具备移动上网特性。这类终端包括：PDA、MID和UMPC设备等，例如iPad。
(3)便携式娱乐设备:这类设备可以显示和播放多媒体内容。该类设备包括:音频、视频播放器(例如iPod)，掌上游戏机，电子书，以及智能玩具和便携式车载导航设备。
(4)服务器:提供计算服务的设备，服务器的构成包括处理器、硬盘、内存、 系统总线等，服务器和通用的计算机架构类似，但是由于需要提供高可靠的服务，因此在处理能力、稳定性、可靠性、安全性、可扩展性、可管理性等方面要求较高。
(5)其他具有数据交互功能的电子装置。
本发明实施例提供了一种计算机程序产品，所述计算机程序产品包括存储在计算机存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行上述任一方法实施例中的步骤，例如执行以上描述的图1中的方法步骤110至步骤140，图2中的方法步骤210至步骤220，和实现图3中模块310-340的功能。
本申请实施方式提供了一种非易失性计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执行，例如执行以上描述的图1中的方法步骤110至步骤140，图2中的方法步骤210至步骤220，和实现图3中模块310-340的功能。
以上所描述的装置实施方式仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施方式方案的目的。
通过以上的实施方式的描述，本领域普通技术人员可以清楚地了解到各实施方式可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现上述实施方式方法中的全部或部分流程是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施方式的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(Random Access Memory,RAM)等。
最后应说明的是：以上实施方式仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施方式或者不同实施方式中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施 方式对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施方式所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施方式技术方案的范围。

Claims (10)

  1. 一种坐标校正方法，其特征在于，包括：
    获取预先设置的标靶的点云坐标；
    获取所述标靶的实际坐标；
    通过所述标靶的点云坐标和实际坐标计算角度误差；
    根据所述角度误差对获取的点云坐标进行校正。
  2. 根据权利要求1所述的方法，其特征在于，所述通过所述标靶的点云坐标和实际坐标计算角度误差，包括：
    分别根据两个标靶的实际坐标A'(x 1',y 1',z 1')，B'(x 2',y 2',z 2')和两个标靶的点云坐标A(x 1,y 1,z 1)，B(x 2,y 2,z 2)，确定如下程式：
    Figure PCTCN2019088304-appb-100001
    其中，
    Figure PCTCN2019088304-appb-100002
    Figure PCTCN2019088304-appb-100003
    Figure PCTCN2019088304-appb-100004
    根据所述程式计算所述角度误差θx、θy、θz。
  3. 根据权利要求1所述的方法，其特征在于，所述预先设置的标靶为位于同一平面的同一高度，且对称设置的两个标靶，所述两个标靶的实际坐标为A'(x 1'，0，R)和B'(-x 1'，0，R)，其中R为与所述平面的距离。
  4. 根据权利要求3所述的方法，其特征在于，所述通过所述标靶的点云坐标和实际坐标计算角度误差具体为：
    根据所述两个标靶的点云坐标A(x 1，y 1，z 1)，B(x 2，y 2，z 2)计算角度误差
    Figure PCTCN2019088304-appb-100005
    根据所述角度误差θz和其中一个标靶的点云坐标A(x 1，y 1，z 1)计算角度误差
    Figure PCTCN2019088304-appb-100006
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述根据所述角度误差对获取的点云坐标进行校正，包括：
    根据所述角度误差确定旋转矩阵；
    根据所述旋转矩阵对获取的点云坐标进行校正。
  6. 根据权利要求5所述的方法，其特征在于，所述根据所述旋转矩阵对获取的点云坐标进行校正具体为：根据如下公式对获取的点云坐标进行校正：
    P' T＝Rx·Ry·Rz·P T
    其中，P'表示实际坐标，P表示获取的点云坐标，Rx、Ry、Rz分别表示所述点云坐标关于X轴、Y轴、Z轴的旋转矩阵。
  7. 一种坐标校正装置，其特征在于，包括：
    第一获取模块：用于获取预先设置的标靶的点云坐标；
    第二获取模块：用于获取所述标靶的实际坐标；
    计算模块：用于通过所述标靶的点云坐标和实际坐标计算角度误差；
    校正模块：用于根据所述角度误差对获取的点云坐标进行校正。
  8. 一种计算设备，其特征在于，包括：处理器、存储器、通信接口和通信总线，所述处理器、所述存储器和所述通信接口通过所述通信总线完成相互间的通信；
    所述存储器用于存放至少一可执行指令，所述可执行指令使所述处理器执行如权利要求1-6任一项所述的一种坐标校正方法。
  9. 一种计算机程序产品，其特征在于，所述计算机程序产品包括存储在计算机存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行如权利要求1-6任一项所述的一种坐标校 正方法。
  10. 一种计算机存储介质，其特征在于，所述存储介质中存储有至少一可执行指令，所述可执行指令使处理器执行如权利要求1-7任一项所述的一种坐标校正方法。
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