汽车工程 ›› 2021, Vol. 43 ›› Issue (8): 1228-1237.doi: 10.19562/j.chinasae.qcgc.2021.08.015
张晓龙1,江昆1,孙恺2,刘茂林1,邵振雷2,肖鹏川2,杨殿阁1()
收稿日期:
2021-02-25
修回日期:
2021-04-24
出版日期:
2021-08-25
发布日期:
2021-08-20
通讯作者:
杨殿阁
E-mail:ydg@mail.tsinghua.edu.cn
基金资助:
Xiaolong Zhang1,Kun Jiang1,Kai Sun2,Maolin Liu1,Zhenlei Shao2,Pengchuan Xiao2,Diange Yang1()
Received:
2021-02-25
Revised:
2021-04-24
Online:
2021-08-25
Published:
2021-08-20
Contact:
Diange Yang
E-mail:ydg@mail.tsinghua.edu.cn
摘要:
本文中建立了一种针对机械式激光雷达参数较少的内参模型;考虑到偏心结构对于点云的影响,提出了角度修正和距离修正两种点云修正方法,对两种方法的修正效果进行仿真,并通过实际点云加以验证。最后还用位姿估计算法验证修正算法的有效性。
张晓龙,江昆,孙恺,刘茂林,邵振雷,肖鹏川,杨殿阁. 激光雷达的内参建模与点云修正方法[J]. 汽车工程, 2021, 43(8): 1228-1237.
Xiaolong Zhang,Kun Jiang,Kai Sun,Maolin Liu,Zhenlei Shao,Pengchuan Xiao,Diange Yang. Intrinsic Parameters Modeling for LiDAR and Point Cloud Correction Method[J]. Automotive Engineering, 2021, 43(8): 1228-1237.
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