[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

CN113495255A - Method and device for determining attitude of laser radar carried on vehicle - Google Patents

Method and device for determining attitude of laser radar carried on vehicle Download PDF

Info

Publication number
CN113495255A
CN113495255A CN202010202376.6A CN202010202376A CN113495255A CN 113495255 A CN113495255 A CN 113495255A CN 202010202376 A CN202010202376 A CN 202010202376A CN 113495255 A CN113495255 A CN 113495255A
Authority
CN
China
Prior art keywords
coordinate system
laser radar
vehicle coordinate
attitude
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010202376.6A
Other languages
Chinese (zh)
Inventor
陈岳
朱宝伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Alibaba Group Holding Ltd
Original Assignee
Alibaba Group Holding Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Alibaba Group Holding Ltd filed Critical Alibaba Group Holding Ltd
Priority to CN202010202376.6A priority Critical patent/CN113495255A/en
Publication of CN113495255A publication Critical patent/CN113495255A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497Means for monitoring or calibrating
    • G01S7/4972Alignment of sensor

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

A method and apparatus for determining a lidar attitude onboard a vehicle, comprising: collecting one frame of point data generated when the laser radar scans the surfaces of two objects with an included angle; selecting a preset number of point data generated on the surface of each object from the frame point data; determining a normal vector of the surface of each object in a vehicle coordinate system based on point data selected for each object; and determining the installation posture of the laser radar in a vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system. Based on the technical scheme, the attitude of the laser radar can be rapidly determined.

Description

Method and device for determining attitude of laser radar carried on vehicle
Technical Field
The invention relates to the technical field of electronic map measurement, in particular to a method and a device for determining the attitude of a laser radar carried on a vehicle.
Background
The high-precision map acquisition vehicle is to use a sensor to acquire geographic information data, wherein the sensor used for acquisition comprises inertial navigation equipment (namely inertial navigation equipment) and a laser radar, the inertial navigation equipment outputs a running track of the vehicle, and the laser radar uses high-speed laser to perform scanning measurement, quickly acquires three-dimensional coordinate data of the surface of a measured object and provides a point cloud of the measured object.
After the high-precision map acquisition vehicle is used for acquiring high-precision data, track data is needed to be used for resolving point cloud data, so that the relative position relation between the laser radar for acquiring the two data and the inertial navigation equipment needs to be known, and the attitude of the common inertial navigation equipment is consistent with that of the vehicle. Therefore, the relative position relationship between the laser radar and the inertial navigation equipment can be represented by the attitude of the laser radar determined relative to the vehicle coordinate system. When the position relationship is determined, subsequent processing of point cloud data and track data can be based.
However, the method for determining the attitude of the laser radar in the prior art includes the following two methods:
the method comprises the following steps: the attitude angle of the device is measured using a measuring tool (e.g., a total station, etc.).
The second method comprises the following steps: and finding out an error evaluation function by using plane characteristics of elements such as buildings, the ground and the like, and iteratively calculating the attitude information of the equipment until the iteration times are reached or the error is smaller than a fixed value.
The first method has high accuracy in measuring distances and angles using a measuring tool (e.g., a total station, etc.), but does not work well with an acquisition apparatus, and the measurement result is inaccurate because the installation posture of a central point and an internal device measured by the apparatus cannot be accurately known. In addition, since the attitude angle corresponds to three coordinate axes, and a clear device coordinate system is not known at the time of mounting, the measurement method using the measuring tool cannot measure the attitude angle.
The second method has higher measurement accuracy than the first method, and is a universal equipment calibration measurement method at present. However, before calculation, steps such as feature extraction, error function selection and the like need to be performed, and the result depends on the iteration times and the error parameters, so that the algorithm complexity is high, and the program efficiency is low.
Therefore, the current method cannot rapidly, efficiently and accurately solve the problem of laser radar attitude determination.
Disclosure of Invention
The invention aims to provide a method and a device for determining the attitude of a laser radar carried on a vehicle, so as to realize the rapid and accurate determination of the attitude of the laser radar.
In order to achieve the above object, the present invention provides a method of determining an attitude of a laser radar mounted on a vehicle, comprising:
collecting one frame of point data generated when the laser radar scans the surfaces of two objects with an included angle;
selecting a preset number of point data generated on the surface of each object from the frame point data;
determining a normal vector of the surface of each object in a vehicle coordinate system based on point data selected for each object;
and determining the installation posture of the laser radar in a vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system.
Further, three point data of the point data generated by the object on the surface are selected for each object, and the three point data do not belong to a collinear relation.
Further, the determining the installation posture of the laser radar in the vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system specifically includes:
multiplying the calculated normal vectors of the surfaces of the two objects under the vehicle coordinate system to obtain a third vector;
and determining the installation posture of the laser radar in the vehicle coordinate system by using a normal vector and the third vector of the surfaces of the two objects in the vehicle coordinate system.
Further, the method further comprises:
and adjusting the determined installation attitude of the laser radar in the vehicle coordinate system into the installation attitude of the laser radar in the reference coordinate system.
Further, the adjusting the determined installation posture of the lidar in the vehicle coordinate system to the installation posture of the lidar in the reference coordinate system specifically includes:
when the vehicle coordinate system is consistent with the reference coordinate system, taking the determined installation attitude of the laser radar under the vehicle coordinate system as the installation attitude of the laser radar under the reference coordinate system; when the vehicle coordinate system and the reference coordinate system have a deviation, obtaining the installation attitude of the laser radar in the reference coordinate system based on the installation attitude of the laser radar in the vehicle coordinate system and a rotation matrix between the vehicle coordinate system and the reference coordinate system.
Further, the method further comprises: and correcting the determined installation attitude of the laser radar under the vehicle coordinate system.
Further, the correcting the determined installation posture of the laser radar in the vehicle coordinate system includes:
multiplying one of the normal vectors of the surfaces of the two objects under the vehicle coordinate system by the third vector to obtain a corrected normal vector;
and obtaining the corrected installation posture of the laser radar in the vehicle coordinate system by using the corrected normal vector, the normal vector of the surfaces of the two objects in the vehicle coordinate system and the third vector.
Further, the method further comprises: and determining the installation attitude of the laser radar relative to the inertial navigation equipment by using the installation attitude of the laser radar under the reference coordinate system and the installation attitude of the inertial navigation equipment under the reference coordinate system.
Further, the included angle is 90 degrees.
Further, the two objects with the included angle are a wall surface and a ground surface which are perpendicular to each other or two wall surfaces which are perpendicular to each other.
The invention also provides a device for determining the attitude of the laser radar carried on the vehicle, which comprises a data acquisition unit, a point data acquisition unit, a vector calculation unit and an attitude determination unit:
the data acquisition unit is used for acquiring a frame of data generated when the laser radar scans the surfaces of two objects with an included angle;
the point data selecting unit is used for selecting a preset number of point data generated on the surface of each object from the frame point data;
the vector calculation unit is used for determining a normal vector of the surface of each object in a vehicle coordinate system based on the point data selected for each object;
the attitude determination unit is used for determining the installation attitude of the laser radar in a vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system.
Further, the point data selecting unit is configured to select, for each object, three point data in the point data generated by the object on the surface, where the three point data do not belong to a collinear relationship.
Further, the determining the installation posture of the laser radar in the vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system specifically includes:
multiplying the calculated normal vectors of the surfaces of the two objects under the vehicle coordinate system to obtain a third vector;
and determining the installation posture of the laser radar in the vehicle coordinate system by using a normal vector and the third vector of the surfaces of the two objects in the vehicle coordinate system.
Further, the device further comprises an attitude conversion unit, which is used for adjusting the determined installation attitude of the laser radar in the vehicle coordinate system to the installation attitude of the laser radar in the reference coordinate system.
Further, the adjusting the determined installation posture of the lidar in the vehicle coordinate system to the installation posture of the lidar in the reference coordinate system specifically includes:
when the vehicle coordinate system is consistent with the reference coordinate system, taking the determined installation attitude of the laser radar under the vehicle coordinate system as the installation attitude of the laser radar under the reference coordinate system; when the vehicle coordinate system and the reference coordinate system have a deviation, obtaining the installation attitude of the laser radar in the reference coordinate system based on the installation attitude of the laser radar in the vehicle coordinate system and a rotation matrix between the vehicle coordinate system and the reference coordinate system.
Further, the attitude determination unit is further configured to: and correcting the determined installation attitude of the laser radar under the vehicle coordinate system.
Further, the correcting the determined installation posture of the laser radar in the vehicle coordinate system includes:
multiplying one of the normal vectors of the surfaces of the two objects under the vehicle coordinate system by the third vector to obtain a corrected normal vector;
and obtaining the corrected installation posture of the laser radar in the vehicle coordinate system by using the corrected normal vector, the normal vector of the surfaces of the two objects in the vehicle coordinate system and the third vector.
Further, the device further comprises a relative attitude determination unit, which is used for determining the installation attitude of the laser radar relative to the inertial navigation equipment by using the installation attitude of the laser radar in the reference coordinate system and the installation attitude of the inertial navigation equipment in the reference coordinate system.
Further, the included angle is 90 degrees.
Further, the two objects with the included angle are a wall surface and a ground surface which are perpendicular to each other or two wall surfaces which are perpendicular to each other.
The present invention also provides an electronic device, the device comprising:
a storage device;
one or more processors;
wherein the storage is to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method as described above.
The invention also provides a computer program product comprising computer program instructions for implementing the method as described above when said instructions are executed by a processor.
The invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed, implements a method as described above.
Compared with the prior art, the invention aims to solve the technical problem of providing the attitude determination method and the attitude determination device for the laser radar, which can accurately obtain the initial attitude value of the laser radar by only using the scanned partial laser data, provide reliable initial basis for subsequent iterative computation, can be quickly applied to actual projects, realize the quick and accurate determination of the attitude of the laser radar and improve the operation efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a method for determining an attitude of a laser radar mounted on a vehicle according to a first embodiment of the present invention.
Fig. 2 is a view showing an actual installation of the laser radar of the present invention.
FIG. 3 is a schematic diagram of an acquisition scenario of the present invention.
Fig. 4 is a schematic diagram of real-time data when the laser is horizontally positioned.
Fig. 5 is a schematic diagram of real-time data when the laser is placed obliquely.
Fig. 6 is a schematic diagram of three points of the plane 1 according to the embodiment of the present invention.
Fig. 7 is a schematic diagram of three points of the plane 2 according to the embodiment of the present invention.
Fig. 8 is a block diagram showing a configuration of an apparatus for determining an attitude of a laser radar mounted on a vehicle according to a second embodiment of the present invention.
Detailed Description
In order to facilitate those skilled in the art to understand and implement the present invention, the following technical solutions of the present invention are clearly and completely described with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments + embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
referring to fig. 1, an embodiment of the present invention provides a method for determining an attitude of a lidar mounted on a vehicle, the method including the steps of:
step 101: and collecting a frame of point data generated when the laser radar scans the surfaces of two objects with an included angle.
And the point data generated by one rotation of the laser radar is one frame of point data.
Before the step 101, referring to fig. 2, the method further comprises: and fixing the laser radar on a vehicle at a certain posture, and determining that the laser radar can scan the surfaces of two objects with an included angle at the same time. When the lidar is mounted on a vehicle at different angles, the scanned points may also change. The vehicle is a map collection vehicle.
The angle may be 90 degrees, i.e. the surfaces of the two objects are perpendicular to each other. From the captured scene, as shown in fig. 3, the two mutually perpendicular objects may be a mutually perpendicular wall surface and a ground surface, or the two mutually perpendicular objects may be two mutually perpendicular wall surfaces.
Step 102: and selecting a preset number of point data generated on the surface by the object for each object from the frame point data.
As shown in fig. 4 and 5, is the data generated when the laser is placed horizontally and obliquely.
When data selection is carried out, three point data in the point data generated by the object on the surface are selected for each object, and the three point data do not belong to a collinear relation. As shown in fig. 6 and 7, three points 1, 2, 3 and 4, 5 and 6 are respectively selected on two planes, and the three points selected on each plane are not on a straight line.
Step 103: and determining a normal vector of the surface of each object under a vehicle coordinate system based on the point data selected for each object.
When the included angle between the surfaces of two objects with included angles is 90 degrees, namely, the included angle is vertical, based on the point data selected for each object, the normal vector of the surface of each object under the vehicle coordinate system is determined to be specifically: calculating a normal vector of each vertical plane in the vehicle coordinate system based on the coordinates of three points selected on each vertical plane in the vehicle coordinate system, wherein the normal vectors of the two vertical planes are calculated based on the coordinates of the three points selected on each vertical plane in the vehicle coordinate system
Figure BDA0002419825720000081
And
Figure BDA0002419825720000082
and (4) showing.
Taking the two vertical planes of the ground and the wall which are perpendicular to each other as an example, the map collecting vehicle with the laser radar is positioned on the ground and on one side of the wall, and then the selected vehicle coordinate system is used as a reference coordinate system and is defined as RFU, namely the right side of the vehicle is an X axis, the front side of the vehicle is a Y axis, and the sky direction is a Z axis.
First, the normal vector of the ground is calculated
Figure BDA0002419825720000083
Selecting three points on the ground, and respectively marking as p1,p2,p3,p1,p2,p3The coordinates of the three points in the selected reference coordinate system are respectively p1(x1,y1,z1),p2(x2,y2,z2),p3(x3,y3,z3)。
Then:
Figure BDA0002419825720000084
Figure BDA0002419825720000085
computing normal vectors of the ground
Figure BDA0002419825720000086
Figure BDA0002419825720000087
Wherein,
a=(y2-y1)(z3-z1)-(z2-z1)(y3-y1);
b=(z2-z1)(x3-x1)-(z3-z1)(x2-x1);
c=(x2-x1)(y3-y1)-(x3-x1)(y2-y1)。
similarly, the normal vector of the wall surface is calculated
Figure BDA0002419825720000091
Selecting three points on the wall surface, and respectively marking as p4,p5,p6,p4,p5,p6The coordinates of the three points in the reference coordinate system are respectively p4(x4,y4,z4),p5(x5,y5,z5),p6(x6,y6,z6)。
Then:
Figure BDA0002419825720000092
Figure BDA0002419825720000093
computing normal vectors of the ground
Figure BDA0002419825720000094
Figure BDA0002419825720000095
Wherein,
d=(y5-y4)(z6-z4)-(z5-z4)(y6-y4);
e=(z5-z4)(x6-x4)-(z6-z4)(x5-x4);
f=(x5-x4)(y6-y4)-(x6-x4)(y5-y4)。
step 104: and determining the installation posture of the laser radar in a vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system.
Determining the installation posture of the laser radar in the vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system, specifically:
multiplying the calculated normal vectors of the surfaces of the two objects under the vehicle coordinate system to obtain a third vector;
and determining the installation posture of the laser radar in the vehicle coordinate system by using a normal vector and the third vector of the surfaces of the two objects in the vehicle coordinate system.
When the included angle between the surfaces of two objects with included angles is 90 degrees, that is, the included angle is vertical, the installation posture of the laser radar in the vehicle coordinate system is determined based on the normal vector of the surface of each object in the vehicle coordinate system, specifically:
the normal vectors of the surfaces of the two mutually perpendicular objects calculated according to said step 103
Figure BDA0002419825720000096
And
Figure BDA0002419825720000097
calculating a vector
Figure BDA0002419825720000098
I.e. the third vector:
Figure BDA0002419825720000099
obtaining an attitude matrix of the laser radar relative to the reference coordinate system
Figure BDA0002419825720000101
Figure BDA0002419825720000102
Considering that there is an error in the vertical angle of the two vertical planes, i.e. may not be 90 degrees, the method further comprises: correcting the determined installation attitude of the laser radar under the vehicle coordinate system, and the method comprises the following steps:
(1) multiplying one of the normal vectors of the surfaces of the two objects under the vehicle coordinate system by the third vector to obtain a corrected normal vector;
using a third vector based on the vectors calculated above
Figure BDA0002419825720000103
Sum vector
Figure BDA0002419825720000104
Will vector
Figure BDA0002419825720000105
Is corrected to
Figure BDA0002419825720000106
Figure BDA0002419825720000107
(2) And obtaining the corrected installation posture of the laser radar in the vehicle coordinate system by using the corrected normal vector, the normal vector of the surfaces of the two objects in the vehicle coordinate system and the third vector.
Calculated by the above
Figure BDA0002419825720000108
Obtaining a calibration of the laser radar with respect to the reference coordinate systemPositive and negative attitude matrix
Figure BDA0002419825720000109
Figure BDA00024198257200001010
Furthermore, the method further comprises: and adjusting the determined installation attitude of the laser radar in the vehicle coordinate system into the installation attitude of the laser radar in the reference coordinate system. The method specifically comprises the following steps:
when the vehicle coordinate system is consistent with the reference coordinate system, taking the determined installation attitude of the laser radar under the vehicle coordinate system as the installation attitude of the laser radar under the reference coordinate system;
when the vehicle coordinate system and the reference coordinate system have a deviation, obtaining the installation attitude of the laser radar in the reference coordinate system based on the installation attitude of the laser radar in the vehicle coordinate system and a rotation matrix between the vehicle coordinate system and the reference coordinate system.
The reference coordinate system used above has various selection methods, may be the same as the standard coordinate system, and may also have obvious deviation from the standard coordinate system, taking the northeast coordinate system as an example of the standard coordinate system (when the standard coordinate system is the northeast coordinate system, the X axis is the positive direction along the east, the Y axis is the positive direction along the north, and the Z axis is the positive direction pointing to the sky), calculating the attitude matrix of the laser radar under the standard coordinate system
Figure BDA0002419825720000111
There are two cases:
case 1: when the normal vectors of two vertical surfaces of the selected reference coordinate system are approximately consistent with two axes of the standard coordinate system, the calculated normal vectors can be directly used
Figure BDA0002419825720000112
As an attitude matrix of the laser radar under a standard coordinate system, namely:
Figure BDA0002419825720000113
case 2: when the normal vectors of the two vertical surfaces of the selected reference coordinate system have significant deviation from the standard coordinate system, it is necessary to calculate the rotation matrix of the coordinate axis of the currently selected reference coordinate system in the standard coordinate system
Figure BDA0002419825720000114
The rotation matrix can be obtained by directly calculating the point cloud of the scene obtained in advance or adding a control point according to a general mapping process, the method is not explained in detail, and then the attitude matrix of the laser under a standard coordinate system is calculated, namely:
Figure BDA0002419825720000115
the method further comprises the following steps: and determining the installation attitude of the laser radar relative to the inertial navigation equipment by using the installation attitude of the laser radar under the reference coordinate system and the installation attitude of the inertial navigation equipment under the reference coordinate system.
The method specifically comprises the following steps: using the attitude matrix of the laser radar under the standard coordinate system
Figure BDA0002419825720000116
To calculate the attitude matrix of the laser radar relative to the inertial navigation equipment
Figure BDA0002419825720000117
Figure BDA0002419825720000118
The above-mentioned
Figure BDA0002419825720000119
Is the attitude moment of the inertial navigation equipment under a standard coordinate systemAnd (5) arraying.
Example two:
referring to fig. 8, a second embodiment of the present invention provides an apparatus for determining an attitude of a laser radar mounted on a vehicle, where the apparatus includes a data acquisition unit 1, a point data acquisition unit 2, a vector calculation unit 3, and an attitude determination unit 4.
The data acquisition unit is used for acquiring a frame of point data generated when the laser radar scans the surfaces of two objects with an included angle.
And the point data generated by one rotation of the laser radar is one frame of point data.
Before collecting a frame of point data generated when the laser radar scans the surfaces of two objects with an included angle, fixing the laser radar on a vehicle at a certain posture, and determining that the laser radar can scan the surfaces of the two objects with the included angle at the same time. When the lidar is mounted on a vehicle at different angles, the scanned points may also change. The vehicle is a map collection vehicle.
The angle may be 90 degrees, i.e. the surfaces of the two objects are perpendicular to each other. From the captured scene, as shown in fig. 3, the two mutually perpendicular objects may be a mutually perpendicular wall surface and a ground surface, or the two mutually perpendicular objects may be two mutually perpendicular wall surfaces.
The point data selecting unit is used for selecting a preset number of point data generated on the surface of each object from the frame point data.
As shown in fig. 4 and 5, is the data generated when the laser is placed horizontally and obliquely.
When data selection is carried out, three point data in the point data generated by the object on the surface are selected for each object, and the three point data do not belong to a collinear relation. As shown in fig. 6 and 7, three points 1, 2, 3 and 4, 5 and 6 are respectively selected on two planes, and the three points selected on each plane are not on a straight line.
The vector calculation unit is used for determining a normal vector of the surface of each object in a vehicle coordinate system based on the point data selected for each object.
When the included angle between the surfaces of two objects with included angles is 90 degrees, namely, the included angle is vertical, based on the point data selected for each object, the normal vector of the surface of each object under the vehicle coordinate system is determined to be specifically: calculating a normal vector of each vertical plane in the vehicle coordinate system based on the coordinates of three points selected on each vertical plane in the vehicle coordinate system, wherein the normal vectors of the two vertical planes are calculated based on the coordinates of the three points selected on each vertical plane in the vehicle coordinate system
Figure BDA0002419825720000121
And
Figure BDA0002419825720000122
and (4) showing.
Taking the two vertical planes of the ground and the wall which are perpendicular to each other as an example, the map collecting vehicle with the laser radar is positioned on the ground and on one side of the wall, and then the selected vehicle coordinate system is used as a reference coordinate system and is defined as RFU, namely the right side of the vehicle is an X axis, the front side of the vehicle is a Y axis, and the sky direction is a Z axis.
First, the normal vector of the ground is calculated
Figure BDA0002419825720000123
Selecting three points on the ground, and respectively marking as p1,p2,p3,p1,p2,p3The coordinates of the three points in the selected reference coordinate system are respectively p1(x1,y1,z1),p2(x2,y2,z2),p3(x3,y3,z3)。
Then:
Figure BDA0002419825720000131
Figure BDA0002419825720000132
computing normal vectors of the ground
Figure BDA0002419825720000133
Figure BDA0002419825720000134
Wherein,
a=(y2-y1)(z3-z1)-(z2-z1)(y3-y1);
b=(z2-z1)(x3-x1)-(z3-z1)(x2-x1);
c=(x2-x1)(y3-y1)-(x3-x1)(y2-y1)。
similarly, the normal vector of the wall surface is calculated
Figure BDA0002419825720000135
Selecting three points on the wall surface, and respectively marking as p4,p5,p6,p4,p5,p6The coordinates of the three points in the reference coordinate system are respectively p4(x4,y4,z4),p5(x5,y5,z5),p6(x6,y6,z6)。
Then:
Figure BDA0002419825720000136
Figure BDA0002419825720000137
computing normal vectors of the ground
Figure BDA0002419825720000138
Figure BDA0002419825720000139
Wherein,
d=(y5-y4)(z6-z4)-(z5-z4)(y6-y4);
e=(z5-z4)(x6-x4)-(z6-z4)(x5-x4);
f=(x5-x4)(y6-y4)-(x6-x4)(y5-y4)。
the attitude determination unit is used for determining the installation attitude of the laser radar in a vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system.
Determining the installation posture of the laser radar in the vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system, specifically:
multiplying the calculated normal vectors of the surfaces of the two objects under the vehicle coordinate system to obtain a third vector;
and determining the installation posture of the laser radar in the vehicle coordinate system by using a normal vector and the third vector of the surfaces of the two objects in the vehicle coordinate system.
When the included angle between the surfaces of two objects with included angles is 90 degrees, that is, the included angle is vertical, the installation posture of the laser radar in the vehicle coordinate system is determined based on the normal vector of the surface of each object in the vehicle coordinate system, specifically:
the normal vector of the surfaces of two objects perpendicular to each other calculated by the vector calculation unit
Figure BDA0002419825720000141
And
Figure BDA0002419825720000142
calculating a vector
Figure BDA0002419825720000143
I.e. the third vector:
Figure BDA0002419825720000144
obtaining an attitude matrix of the laser radar relative to the reference coordinate system
Figure BDA0002419825720000145
Figure BDA0002419825720000146
Considering that there is an error in the vertical angle of the two vertical planes, i.e. may not be 90 degrees, the attitude determination unit is further configured to: correcting the determined installation attitude of the laser radar under the vehicle coordinate system, and specifically comprises the following steps:
(1) multiplying one of the normal vectors of the surfaces of the two objects under the vehicle coordinate system by the third vector to obtain a corrected normal vector;
using a third vector based on the vectors calculated above
Figure BDA0002419825720000147
Sum vector
Figure BDA0002419825720000148
Will vector
Figure BDA0002419825720000149
Is corrected to
Figure BDA00024198257200001410
Figure BDA00024198257200001411
(2) And obtaining the corrected installation posture of the laser radar in the vehicle coordinate system by using the corrected normal vector, the normal vector of the surfaces of the two objects in the vehicle coordinate system and the third vector.
Calculated by the above
Figure BDA00024198257200001412
Obtaining a corrected attitude matrix of the laser radar relative to the reference coordinate system
Figure BDA00024198257200001413
Figure BDA0002419825720000151
The device further comprises an attitude conversion unit used for adjusting the determined installation attitude of the laser radar in the vehicle coordinate system into the installation attitude of the laser radar in the reference coordinate system. The method specifically comprises the following steps:
when the vehicle coordinate system is consistent with the reference coordinate system, taking the determined installation attitude of the laser radar under the vehicle coordinate system as the installation attitude of the laser radar under the reference coordinate system;
when the vehicle coordinate system and the reference coordinate system have a deviation, obtaining the installation attitude of the laser radar in the reference coordinate system based on the installation attitude of the laser radar in the vehicle coordinate system and a rotation matrix between the vehicle coordinate system and the reference coordinate system.
The reference coordinate system used above has various selection methods, may be the same as the standard coordinate system, and may also have obvious deviation from the standard coordinate system, taking the northeast coordinate system as an example of the standard coordinate system (when the standard coordinate system is the northeast coordinate system, the X axis is the positive direction along the east, the Y axis is the positive direction along the north, and the Z axis is the positive direction pointing to the sky), calculating the attitude matrix of the laser radar under the standard coordinate system
Figure BDA0002419825720000152
There are two cases:
case 1: when the normal vectors of two vertical surfaces of the selected reference coordinate system are approximately consistent with two axes of the standard coordinate system, the calculated normal vectors can be directly used
Figure BDA0002419825720000153
As an attitude matrix of the laser radar under a standard coordinate system, namely:
Figure BDA0002419825720000154
case 2: when the normal vectors of the two vertical surfaces of the selected reference coordinate system have significant deviation from the standard coordinate system, it is necessary to calculate the rotation matrix of the coordinate axis of the currently selected reference coordinate system in the standard coordinate system
Figure BDA0002419825720000155
The rotation matrix can be obtained by directly calculating the point cloud of the scene obtained in advance or adding a control point according to a general mapping process, the method is not explained in detail, and then the attitude matrix of the laser under a standard coordinate system is calculated, namely:
Figure BDA0002419825720000156
the device further comprises a relative attitude determination unit, which is used for determining the installation attitude of the laser radar relative to the inertial navigation equipment by using the installation attitude of the laser radar in the reference coordinate system and the installation attitude of the inertial navigation equipment in the reference coordinate system.
The method specifically comprises the following steps: using the attitude matrix of the laser radar under the standard coordinate system
Figure BDA0002419825720000161
To calculate the attitude matrix of the laser radar relative to the inertial navigation equipment
Figure BDA0002419825720000162
Figure BDA0002419825720000163
The above-mentioned
Figure BDA0002419825720000164
Is that the inertial navigation equipment is under a standard coordinate systemAnd (5) a posture matrix.
Based on the scheme provided by the invention, the attitude initial value of the laser radar can be accurately obtained only by using the scanned partial laser data, a reliable initial basis is provided for subsequent iterative calculation, the method can be quickly applied to actual projects, the attitude of the laser radar can be quickly and accurately determined, and the operation efficiency is improved.
In addition, the embodiment of the invention also discloses an electronic device, which comprises a storage device and one or more processors, wherein the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors realize the method according to the first embodiment.
The embodiment of the invention also discloses a computer program product which comprises computer program instructions and is used for realizing the method in the first embodiment when the instructions are executed by a processor.
The embodiment of the invention also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed, the method of the first embodiment is realized.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods, apparatus, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart and block diagrams may represent a unit, module, segment, or portion of code, which comprises one or more computer-executable instructions for implementing the logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. It will also be noted that each block of the block diagrams and flowchart illustrations, and combinations of blocks in the block diagrams and flowchart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention, and is provided by way of illustration only and not limitation. It will be apparent to those skilled in the art from this disclosure that various other changes and modifications can be made without departing from the spirit and scope of the invention.

Claims (14)

1. A method of determining a lidar attitude onboard a vehicle, comprising:
collecting one frame of point data generated when the laser radar scans the surfaces of two objects with an included angle;
selecting a preset number of point data generated on the surface of each object from the frame point data;
determining a normal vector of the surface of each object in a vehicle coordinate system based on point data selected for each object;
and determining the installation posture of the laser radar in a vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system.
2. The method of claim 1, selecting for each object three point data of the object's surface-generated point data, the three point data not belonging to a collinear relationship.
3. The method according to claim 1, wherein the determining the installation attitude of the lidar in the vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system comprises:
multiplying the calculated normal vectors of the surfaces of the two objects under the vehicle coordinate system to obtain a third vector;
and determining the installation posture of the laser radar in the vehicle coordinate system by using a normal vector and the third vector of the surfaces of the two objects in the vehicle coordinate system.
4. The method of one of claims 1 to 3, the method further comprising:
and adjusting the determined installation attitude of the laser radar in the vehicle coordinate system into the installation attitude of the laser radar in the reference coordinate system.
5. The method according to claim 4, wherein the determined installation attitude of the lidar in the vehicle coordinate system is adjusted to the installation attitude of the lidar in the reference coordinate system, specifically:
when the vehicle coordinate system is consistent with the reference coordinate system, taking the determined installation attitude of the laser radar under the vehicle coordinate system as the installation attitude of the laser radar under the reference coordinate system;
when the vehicle coordinate system and the reference coordinate system have a deviation, obtaining the installation attitude of the laser radar in the reference coordinate system based on the installation attitude of the laser radar in the vehicle coordinate system and a rotation matrix between the vehicle coordinate system and the reference coordinate system.
6. The method of claim 3, further comprising: and correcting the determined installation attitude of the laser radar under the vehicle coordinate system.
7. The method of claim 6, wherein the correcting the determined installation attitude of the lidar in the vehicle coordinate system comprises:
multiplying one of the normal vectors of the surfaces of the two objects under the vehicle coordinate system by the third vector to obtain a corrected normal vector;
and obtaining the corrected installation posture of the laser radar in the vehicle coordinate system by using the corrected normal vector, the normal vector of the surfaces of the two objects in the vehicle coordinate system and the third vector.
8. The method of claim 4, further comprising: and determining the installation attitude of the laser radar relative to the inertial navigation equipment by using the installation attitude of the laser radar under the reference coordinate system and the installation attitude of the inertial navigation equipment under the reference coordinate system.
9. The method of claim 1, wherein the included angle is 90 degrees.
10. The method of claim 1, wherein the two objects are perpendicular walls and ground or perpendicular walls.
11. The device for determining the attitude of the laser radar carried on the vehicle comprises a data acquisition unit, a point data acquisition unit, a vector calculation unit and an attitude determination unit:
the data acquisition unit is used for acquiring a frame of data generated when the laser radar scans the surfaces of two objects with an included angle;
the point data selecting unit is used for selecting a preset number of point data generated on the surface of each object from the frame point data;
the vector calculation unit is used for determining a normal vector of the surface of each object in a vehicle coordinate system based on the point data selected for each object;
the attitude determination unit is used for determining the installation attitude of the laser radar in a vehicle coordinate system based on the normal vector of the surface of each object in the vehicle coordinate system.
12. An electronic device, the device comprising:
a storage device;
one or more processors;
wherein the storage is to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-10.
13. A computer program product comprising computer program instructions for implementing the method of any one of claims 1-10 when executed by a processor.
14. A computer-readable storage medium, on which a computer program is stored which, when executed, implements the method of any of claims 1-10.
CN202010202376.6A 2020-03-20 2020-03-20 Method and device for determining attitude of laser radar carried on vehicle Pending CN113495255A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010202376.6A CN113495255A (en) 2020-03-20 2020-03-20 Method and device for determining attitude of laser radar carried on vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010202376.6A CN113495255A (en) 2020-03-20 2020-03-20 Method and device for determining attitude of laser radar carried on vehicle

Publications (1)

Publication Number Publication Date
CN113495255A true CN113495255A (en) 2021-10-12

Family

ID=77994239

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010202376.6A Pending CN113495255A (en) 2020-03-20 2020-03-20 Method and device for determining attitude of laser radar carried on vehicle

Country Status (1)

Country Link
CN (1) CN113495255A (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060103927A1 (en) * 2004-11-16 2006-05-18 Denso Corporation Object recognition apparatus for motor vehicle
KR20170124871A (en) * 2016-05-03 2017-11-13 국방과학연구소 Lidar sensor device for automatic driving of unmanned vehicles
US20180313942A1 (en) * 2017-04-28 2018-11-01 SZ DJI Technology Co., Ltd. Calibration of laser sensors
CN109541571A (en) * 2018-12-29 2019-03-29 北京智行者科技有限公司 The combined calibrating method of EPS zero bias and multi-line laser radar
CN109684921A (en) * 2018-11-20 2019-04-26 吉林大学 A kind of road edge identification and tracking based on three-dimensional laser radar
CN109696663A (en) * 2019-02-21 2019-04-30 北京大学 A kind of vehicle-mounted three-dimensional laser radar scaling method and system
CN109725303A (en) * 2018-12-04 2019-05-07 北京万集科技股份有限公司 Modification method and device, the storage medium of coordinate system
WO2020012879A1 (en) * 2018-07-13 2020-01-16 マクセル株式会社 Head-up display

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060103927A1 (en) * 2004-11-16 2006-05-18 Denso Corporation Object recognition apparatus for motor vehicle
KR20170124871A (en) * 2016-05-03 2017-11-13 국방과학연구소 Lidar sensor device for automatic driving of unmanned vehicles
US20180313942A1 (en) * 2017-04-28 2018-11-01 SZ DJI Technology Co., Ltd. Calibration of laser sensors
WO2020012879A1 (en) * 2018-07-13 2020-01-16 マクセル株式会社 Head-up display
CN109684921A (en) * 2018-11-20 2019-04-26 吉林大学 A kind of road edge identification and tracking based on three-dimensional laser radar
CN109725303A (en) * 2018-12-04 2019-05-07 北京万集科技股份有限公司 Modification method and device, the storage medium of coordinate system
CN109541571A (en) * 2018-12-29 2019-03-29 北京智行者科技有限公司 The combined calibrating method of EPS zero bias and multi-line laser radar
CN109696663A (en) * 2019-02-21 2019-04-30 北京大学 A kind of vehicle-mounted three-dimensional laser radar scaling method and system

Similar Documents

Publication Publication Date Title
WO2018142900A1 (en) Information processing device, data management device, data management system, method, and program
CN107340522B (en) Laser radar positioning method, device and system
CN108732582B (en) Vehicle positioning method and device
CN111812658B (en) Position determination method, device, system and computer readable storage medium
CN102472609B (en) Position and orientation calibration method and apparatus
JP5627325B2 (en) Position / orientation measuring apparatus, position / orientation measuring method, and program
CN112034431B (en) External parameter calibration method and device for radar and RTK
JPWO2007069721A1 (en) 3D shape data storage and display method and apparatus, and 3D shape measurement method and apparatus
CN110889808A (en) Positioning method, device, equipment and storage medium
CN112346104A (en) Unmanned aerial vehicle information fusion positioning method
KR102490521B1 (en) Automatic calibration through vector matching of the LiDAR coordinate system and the camera coordinate system
CN109282813B (en) Unmanned ship global obstacle identification method
CN111538029A (en) Vision and radar fusion measuring method and terminal
CN115683170B (en) Calibration method based on radar point cloud data fusion error
CN116704458A (en) Transverse positioning method for automatic driving commercial vehicle
EP1307705B1 (en) Height measurement apparatus
CN113137973A (en) Image semantic feature point truth value determining method and device
US20160375583A1 (en) Apparatus and method for providing accuracy of robot location information by using sensor
CN109489658B (en) Moving target positioning method and device and terminal equipment
CN113495255A (en) Method and device for determining attitude of laser radar carried on vehicle
CN117572395A (en) External parameter calibration method, device, equipment and medium of vehicle-mounted laser radar
CN112230194B (en) Deblurring method, equipment and storage medium based on translation array
CN112633043B (en) Lane line determining method and device, electronic equipment and storage medium
CN114004949A (en) Airborne point cloud assisted mobile measurement system arrangement parameter calibration method and system
CN114842224A (en) Monocular unmanned aerial vehicle absolute vision matching positioning scheme based on geographical base map

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination