CN-122017809-A - Single-line laser radar calibration method, device, equipment and readable storage medium

CN122017809ACN 122017809 ACN122017809 ACN 122017809ACN-122017809-A

Abstract

The application relates to the technical field of radar calibration, and discloses a single-line laser radar calibration method, a single-line laser radar calibration device, single-line laser radar calibration equipment and a readable storage medium. The method comprises the steps of placing a single-line laser radar in a preset calibration room, obtaining a first source point cloud obtained by scanning the single-line laser radar for the preset calibration room, obtaining a target point cloud corresponding to the preset calibration room, determining a reference external reference matrix of the single-line laser radar based on the source point cloud and the target point cloud and combining an iterative nearest point algorithm, obtaining a second source point cloud obtained by scanning the single-line laser radar for the preset calibration room, fusing the second source point cloud and the target point cloud based on the reference external reference matrix to obtain a fused point cloud, and calibrating the reference external reference matrix as a target external reference matrix of the single-line laser radar if the fused point cloud meets preset conditions. The method avoids relying on manual work, radar movement or specific target plates for calibration, reduces the complexity of calibration, avoids the influence of manual subjectivity on the calibration result, and improves the robustness of single-line laser radar calibration.

Inventors

HUANG ZHAOCHENG
CHENG HAORAN

Assignees

深圳市优必选科技股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260226

Claims (10)

1. A single line laser radar calibration method, the method comprising: Placing a single-line laser radar in a preset calibration room, acquiring a first source point cloud obtained by scanning the single-line laser radar for the preset calibration room, and acquiring a target point cloud corresponding to the preset calibration room; Performing point cloud matching and rigid transformation estimation on the first source point cloud and the target point cloud, and determining a reference external reference matrix of the single-line laser radar; And acquiring a second source point cloud obtained by scanning the single-line laser radar between the preset calibration intervals, checking the reference external reference matrix based on the second source point cloud and the target point cloud, and if the checking is passed, calibrating the reference external reference matrix as a target external reference matrix of the single-line laser radar.
2. The single-line laser radar calibration method according to claim 1, wherein the step of obtaining a first source point cloud obtained by scanning the single-line laser radar between the preset calibrations and obtaining a target point cloud corresponding to the preset calibrations comprises the steps of: acquiring laser scanning data of the single-line laser radar for scanning the preset calibration space, and converting the laser scanning data into first point cloud data; determining a first source point cloud based on the first point cloud data and the installation height of the single-line lidar; Based on the observation range and the installation height of the single-line laser radar, performing space clipping on the three-dimensional structure point cloud between the preset calibration to obtain second point cloud data; and performing voxel filtering on the second point cloud data based on the spatial resolution of the first source point cloud to obtain a target point cloud corresponding to the preset calibration space.
3. The single-line laser radar calibration method according to claim 1, wherein the step of performing point cloud matching and rigid transformation estimation on the first source point cloud and the target point cloud to determine a reference external reference matrix of the single-line laser radar comprises: Performing point cloud matching on the first source point cloud and the target point cloud, and determining a matching point of each laser point in the first source point cloud in the target point cloud to obtain a point pair set; Performing rigid transformation estimation on the point pair set to determine an external parameter matrix of the single-line laser radar; Re-executing the step of acquiring a first source point cloud obtained by scanning the single-line laser radar between the preset calibrations based on the external reference matrix; And obtaining the reference external reference matrix of the single-line laser radar until the preset iteration times are reached or the change rate of the external reference matrix is smaller than a preset threshold value.
4. The single-line lidar calibration method of claim 3, wherein the step of performing point cloud matching on the first source point cloud and the target point cloud to determine a matching point of each laser point in the first source point cloud in the target point cloud comprises: obtaining an external parameter matrix corresponding to the first source point cloud; Calculating, for each laser point in the first source point cloud, a distance between the laser point and each target point in the target point cloud based on the extrinsic matrix; and selecting a target point with the smallest distance with the laser point from the target point cloud as a matching point of the laser point in the target point cloud.
5. A single line lidar calibration method as defined in claim 3, wherein the step of determining the extrinsic matrix of the single line lidar based on the rigid body transformation estimation of the set of point pairs comprises: Constructing a least squares error model, the goal of which is to determine a rigid body transformation that minimizes the sum of squares of positional deviations of each matched point pair in the set of point pairs after transformation; and carrying out rigid transformation estimation on the point pair set based on the least square error model, determining target rigid transformation, and determining an external parameter matrix of the single-line laser radar based on the target rigid transformation.
6. The single-line laser radar calibration method according to claim 1, wherein the step of obtaining a second source point cloud obtained by scanning the single-line laser radar between the preset calibrations, and verifying the reference external reference matrix based on the second source point cloud and the target point cloud, and if the verification is passed, calibrating the reference external reference matrix as a target external reference matrix of the single-line laser radar comprises the steps of: Acquiring a second source point cloud obtained by scanning the single-line laser radar between the preset calibrations, and fusing the second source point cloud and the target point cloud based on the reference external reference matrix to obtain a fused point cloud; and if the fusion point cloud meets the preset condition, calibrating the reference external reference matrix as a target external reference matrix of the single-line laser radar.
7. The single-line laser radar calibration method according to claim 1, wherein the step of obtaining a second source point cloud obtained by scanning the single-line laser radar between the preset calibrations, and verifying the reference external reference matrix based on the second source point cloud and the target point cloud, and if the verification is passed, calibrating the reference external reference matrix as a target external reference matrix of the single-line laser radar comprises the steps of: Acquiring a second source point cloud obtained by scanning the single-line laser radar between the preset calibrations, and calculating average residual error and inner point proportion based on the second source point cloud, the target point cloud and the reference outer parameter matrix; and if the average residual is smaller than a preset residual threshold and the interior point proportion is larger than a preset proportion threshold, calibrating the reference external reference matrix as a target external reference matrix of the single-line laser radar.
8. The utility model provides a single line laser radar calibration device which characterized in that, single line laser radar calibration device includes: the acquisition module is used for arranging the single-line laser radar in a preset calibration room, acquiring a first source point cloud obtained by scanning the single-line laser radar for the preset calibration room, and acquiring a target point cloud corresponding to the preset calibration room; The determining module is used for carrying out point cloud matching and rigid body transformation estimation on the first source point cloud and the target point cloud, and determining a reference external reference matrix of the single-line laser radar; the verification module is used for acquiring a second source point cloud obtained by scanning the single-line laser radar between the preset calibration, verifying the reference external reference matrix based on the second source point cloud and the target point cloud, and calibrating the reference external reference matrix as a target external reference matrix of the single-line laser radar if verification is passed.
9. A computer device, characterized in that it comprises a processor and a memory, the memory storing a computer program, the processor being adapted to execute the computer program to implement the single-wire lidar calibration method of any of claims 1-7.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when run on a processor, performs the single-wire lidar calibration method of any of claims 1-7.

Description

Single-line laser radar calibration method, device, equipment and readable storage medium Technical Field The application relates to the technical field of radar calibration, in particular to a single-line laser radar calibration method, a single-line laser radar calibration device, single-line laser radar calibration equipment and a readable storage medium. Background Single-line laser radars are widely applied to scenes such as robots, AGVs, humanoid robots and the like due to low price and low power consumption. However, the single-line laser radar cannot directly provide space three-dimensional information, and each frame only comprises one two-dimensional scanning line, so that the existing single-line laser radar mainly depends on radar motion or a specific target plate and is calibrated by combining a manual measurement method. The existing single-line laser radar calibration method not only depends on manpower, but also depends on radar movement or a specific target plate, so that the complexity of the calibration operation of the single-line laser radar is high, the accuracy of the calibration can be influenced by the subjectivity of the manpower, and the robustness of the existing single-line laser radar calibration method is low. Disclosure of Invention In view of the above, the present application aims to overcome the defects in the prior art, and provides a single-line laser radar calibration method, which comprises: Placing a single-line laser radar in a preset calibration room, acquiring a first source point cloud obtained by scanning the single-line laser radar for the preset calibration room, and acquiring a target point cloud corresponding to the preset calibration room; Performing point cloud matching and rigid transformation estimation on the first source point cloud and the target point cloud, and determining a reference external reference matrix of the single-line laser radar; And acquiring a second source point cloud obtained by scanning the single-line laser radar between the preset calibration intervals, checking the reference external reference matrix based on the second source point cloud and the target point cloud, and if the checking is passed, calibrating the reference external reference matrix as a target external reference matrix of the single-line laser radar. In an embodiment, the step of obtaining a first source point cloud obtained by scanning the single-line laser radar between the preset calibrations and obtaining a target point cloud corresponding to the preset calibrations includes: acquiring laser scanning data of the single-line laser radar for scanning the preset calibration space, and converting the laser scanning data into first point cloud data; determining a first source point cloud based on the first point cloud data and the installation height of the single-line lidar; Based on the observation range and the installation height of the single-line laser radar, performing space clipping on the three-dimensional structure point cloud between the preset calibration to obtain second point cloud data; and performing voxel filtering on the second point cloud data based on the spatial resolution of the first source point cloud to obtain a target point cloud corresponding to the preset calibration space. In an embodiment, the step of performing point cloud matching and rigid body transformation estimation on the first source point cloud and the target point cloud to determine a reference extrinsic matrix of the single-line laser radar includes: Performing point cloud matching on the first source point cloud and the target point cloud, and determining a matching point of each laser point in the first source point cloud in the target point cloud to obtain a point pair set; Performing rigid transformation estimation on the point pair set to determine an external parameter matrix of the single-line laser radar; Re-executing the step of acquiring a first source point cloud obtained by scanning the single-line laser radar between the preset calibrations based on the external reference matrix; And obtaining the reference external reference matrix of the single-line laser radar until the preset iteration times are reached or the change rate of the external reference matrix is smaller than a preset threshold value. In an embodiment, the step of performing point cloud matching on the first source point cloud and the target point cloud to determine a matching point of each laser point in the first source point cloud in the target point cloud includes: obtaining an external parameter matrix corresponding to the first source point cloud; Calculating, for each laser point in the first source point cloud, a distance between the laser point and each target point in the target point cloud based on the extrinsic matrix; and selecting a target point with the smallest distance with the laser point from the target point cloud as a matching point of the laser point in the target point cloud