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Alternative TitlePanorama three-dimensional laser sensor data calibration method and apparatus
赵忆文; 卜春光; 庄严; 闫飞; 高英丽
Rights Holder中国科学院沈阳自动化研究所 ; 大连理工大学
Patent Agent沈阳科苑专利商标代理有限公司 21002
Other AbstractThe invention relates to a panorama three-dimensional laser sensor data calibration method and apparatus. The apparatus includes a three-dimensional laser sensor and a calibration device. The method includes the following steps: firstly, dividing scan data of a two-dimensional laser sensor into two parts on average on the basis of the positive portion and the negative portion of a yL axis, then forming a laser scan plane, and forming two pieces of space three-dimensional point cloud data by the positive and negative laser data of the yL axis when a rotary holder drives the two-dimensional laser sensor to rotate 360 degrees; secondly, extracting laser data characteristic points needed by calibration from the two pieces of space three-dimensional point cloud data; and thirdly, optimizing distances among the laser points in the two pieces of space three-dimensional point cloud data, and then obtaining a calibration parameter. The problems of uncontrollable human errors and long time caused by hand-operated click matching are solved, factors that are likely to affect the data precision are fully considered, the calibration precision of the sensor is improved, and the universality of the calibration method is improved.
PCT Attributes
Application Date2015-08-31
Date Available2017-11-14
Application NumberCN201510548076.2
Open (Notice) NumberCN105067023A
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
赵忆文,卜春光,庄严,等. 一种全景三维激光传感器数据校准方法和装置[P]. 2015-11-18.
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