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 PDFInfo
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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
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.
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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 systemAndand (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.
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:
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)。
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:
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 103Andcalculating a vectorI.e. the third vector:
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;
(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 aboveObtaining a calibration of the laser radar with respect to the reference coordinate systemPositive and negative attitude matrix
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 systemThere 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 usedAs an attitude matrix of the laser radar under a standard coordinate system, namely:
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 systemThe 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:
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 systemTo calculate the attitude matrix of the laser radar relative to the inertial navigation equipment
The above-mentionedIs 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 systemAndand (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.
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:
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)。
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:
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 unitAndcalculating a vectorI.e. the third vector:
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;
(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 aboveObtaining a corrected attitude matrix of the laser radar relative to the reference coordinate system
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 systemThere 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 usedAs an attitude matrix of the laser radar under a standard coordinate system, namely:
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 systemThe 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:
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 systemTo calculate the attitude matrix of the laser radar relative to the inertial navigation equipment
The above-mentionedIs 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.
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