一种面向固态激光雷达的简易标定与验证方法

doi:10.16183/j.cnki.jsjtu.2021.S2.016

上海交通大学学报 ›› 2021, Vol. 55 ›› Issue (S2): 98-102.doi: 10.16183/j.cnki.jsjtu.2021.S2.016

一种面向固态激光雷达的简易标定与验证方法

杨逸文, 贺越生(), 王春香, 杨明

上海交通大学自动化系;系统控制与信息处理教育部重点实验室;上海工业智能管控工程技术研究中心,上海 200240

收稿日期:2021-09-14 出版日期:2021-12-28 发布日期:2022-01-24
通讯作者: 贺越生 E-mail:heyuesh@sjtu.edu.cn
作者简介:杨逸文(1995-),男,上海市人,硕士生,研究方向为激光雷达标定与激光建图定位.
基金资助:
国家自然科学基金(U1764264)

A Simple Calibration and Verification Method for Solid-State Lidar

YANG Yiwen, HE Yuesheng(), WANG Chunxiang, YANG Ming

Department of Automation; Key Laboratory of System Control and Information Processing of the Ministry of Education; Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai Jiao Tong University, Shanghai 200240, China

Received:2021-09-14 Online:2021-12-28 Published:2022-01-24
Contact: HE Yuesheng E-mail:heyuesh@sjtu.edu.cn

摘要/Abstract

摘要：

为了解决固态激光雷达外参标定繁琐与验证其标定结果较为困难的问题,提出了一种面向固态激光雷达的简易标定与验证方法.该方法设计了一种简易的标定场和标志物,随后利用标志物完成激光雷达的角度标定,再通过测绘方法完成激光雷达的距离标定,以此来减少角度外参与距离外参的相关性,并保证标定结果的精度.最后通过比较计算得出外参误差,验证激光雷达标定结果.实验结果表明该方法合理有效,且大幅减少了激光雷达标定和验证结果所需要的设备准备时间和成本,具有一定的应用价值.

关键词: 激光雷达, 外参标定, 验证方法

Abstract:

In order to solve the problem of cumbersome external parameter calibration of solid-state lidar and overcome the difficulty in verifying its calibration results, a simple calibration and verification method for solid-state lidar is proposed. This method designs a simple calibration field and markers, uses the markers to complete the angle calibration of the lidar, and completes the distance calibration of the lidar by using the surveying method, so as to reduce the correlation of the external parameters of the angle and the distance, and to ensure the accuracy of the calibration result. Finally, the error of external parameter is obtained through comparison and calculation, and the calibration result of the lidar is verified. The experimental results show that the method proposed is reasonable and effective, and greatly reduces the equipment preparation time and cost required for lidar calibration and verification results, which has a certain application value.

Key words: lidar, external parameter calibration, verification method

中图分类号:

TP391

杨逸文, 贺越生, 王春香, 杨明. 一种面向固态激光雷达的简易标定与验证方法[J]. 上海交通大学学报, 2021, 55(S2): 98-102.

YANG Yiwen, HE Yuesheng, WANG Chunxiang, YANG Ming. A Simple Calibration and Verification Method for Solid-State Lidar[J]. Journal of Shanghai Jiao Tong University, 2021, 55(S2): 98-102.

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外部参数	Lidar测量结果
t_x/m	1.08
t_y/m	0.03
t_z/m	1.635
ϕ/( ° )	1.18
θ/( ° )	2.67
ψ/( ° )	-0.61

外部参数	Lidar测量结果
t'_x/m	1.28
t'_y/m	-0.1
t'_z/m	1.65
ϕ'/( ° )	1.12
θ'/( ° )	2.83
ψ'/( ° )	-0.52

一种面向固态激光雷达的简易标定与验证方法

A Simple Calibration and Verification Method for Solid-State Lidar

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