车载激光雷达外参数的标定方法

摘要

基于多激光雷达的车载三维重建系统在工作时需要对激光雷达的外参数(包括三个旋转参数和三个平移参数)进行标定。针对激光雷达外参数的标定问题，根据激光雷达扫描点不可见、单线式扫描等工作特点，以基于空间向量的三维坐标系转换模型为基础，提出了一种采用三面靶标的激光雷达外参数标定方法，对靶标进行三维重建，利用随机采样一致性(RANSAC)算法进行平面分割和同名向量的提取，采用坐标系转换模型对标定参数求解，实现了激光雷达外参数的标定，并结合仿真结果以及标定前后多激光雷达系统三维重建结果对方法的有效性及精度进行了评估和验证。%Extrinsic calibration of Lidar is necessary for vehicle-mounted 3D reconstruction system using multiple Lidars. Concerned on the extrinsic calibration of Lidar, as the scanning point of Lidar is invisible and scanning mode is single-lined, according to the 3D frame transforming model based on space vectors, a new calibration method is proposed, in which a trihedron target is adopted. The proposed method, which contains reconstruction of the target, segmentation of plane feature and extraction of corresponding vectors using the Random Sample Consensus (RANSAC) algorithm, solving the extrinsic parameters using the transforming model of 3D frame based on space vectors, was applied to extrinsic calibration of Lidar in a 3D reconstruction system. The effectiveness and precision of the method are proved by simulation and 3D reconstruction importing the calibration results.