US 11,714,174 B2
Parameter calibration method and apparatus of multi-line laser radar, device and readable medium
Bosheng Wang, Beijing (CN); Yuanfan Xie, Beijing (CN); Jun Wang, Beijing (CN); He Yan, Beijing (CN); and Liang Wang, Beijing (CN)
Assigned to APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD., Beijing (CN)
Filed by APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD., Beijing (CN)
Filed on Aug. 30, 2018, as Appl. No. 16/117,953.
Claims priority of application No. 201710851934.X (CN), filed on Sep. 17, 2017.
Prior Publication US 2019/0086524 A1, Mar. 21, 2019
Int. Cl. G01S 7/497 (2006.01); G01S 17/42 (2006.01)
CPC G01S 7/497 (2013.01) [G01S 17/42 (2013.01)] 20 Claims
OG exemplary drawing
 
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.