CPC G01S 7/497 (2013.01) [G01S 17/42 (2013.01)] | 20 Claims |
1. A method of calibration of internal and/or external parameters of a multi-line laser radar in view of different calibration scenario, the external parameters being related to both the multi-line laser radar and a mounting machine mounted with the multi-line laser radar, wherein the method comprises:
creating a 3D scenario model of a calibration scenario, based on data of the calibration scenario collected by an already-calibrated 3D scanner;
obtaining point cloud data collected by a to-be-calibrated multi-line laser radar at a plurality of position points in the calibration scenario respectively, wherein a precision of the already-calibrated 3D scanner is larger than the precision of the to-be-calibrated multi-line laser radar;
aligning absolutely the point cloud data collected by the multi-line laser radar at the respective point points and point cloud data in the 3D scenario model into the same coordinate system on a principle that the respective position points are aligned with corresponding position points in the 3D scenario model;
building an objective function between data of points collected by the multi-line laser radar and data of matching points which are nearest to the respective points collected by the multi-line laser radar in the 3D scenario model under the same coordinate system, wherein the objective function defines a point-to-point correspondence between a point collected by the multi-line laser radar and a corresponding matching point in the 3D scenario model;
calibrating the parameters of the multi-line laser radar according to the objective function.
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