在线对固态激光雷达系统的外部参数进行校准
Mark O Mints1, Roman Abayev1, Nick Theisen1
1Active Vision Group, Institute for Computational Visualistics, University of Koblenz, 56016 Koblenz, Germany.
Sensors (Basel, Switzerland)
|April 13, 2024
概括
本研究提出了一种用于校准具有不同扫描模式的多个固态激光雷达系统的新方法. 该方法实现了准确的校准,使自主系统的感知能力提高.
科学领域:
- 机器人技术和自主系统
- 传感器技术 传感器技术
- 计算机视觉 计算机视觉
背景情况:
- 校准多个固态激光雷达系统是具有挑战性的,因为不同的硬件设计和扫描模式.
- 建立LIDAR生成的点云之间的点对应对准确校准至关重要.
研究的目的:
- 开发和评估一种可靠的方法,用于校准多个固态激光雷达传感器.
- 为了实现多LIDAR系统的准确点云注册和外部参数估计.
主要方法:
- 数据预处理以提高测量质量.
- 使用快点特征历史图 (FPFH) 方法进行特征提取.
- 通过快速全球注册 (FGR) 来计算外部参数.
主要成果:
- 在静态的室内环境中达到7厘米的最小根平均平方误差.
- 证明了该方法适用于在线实时应用的适用性.
- 在不同的固态激光雷达系统之间成功建立了点对应.
结论:
- 拟议的方法有效校准了多个固态激光雷达系统.
- 这项研究推进了多LIDAR融合,以改善感知和绘图.
- 这种方法对自动驾驶,机器人技术和环境监测有重大影响.
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