A Simple Calibration and Verification Method for Solid-State Lidar

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

Abstract

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

CLC Number:

TP391

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.

Figures/Tables 10

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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