激光雷达的内参建模与点云修正方法

doi:10.19562/j.chinasae.qcgc.2021.08.015

Abstract

Abstract:

In this paper， an intrinsic parameter model with less parameters and dedicated to mechanical LiDAR is established， and in view of the effects of eccentric structure on point cloud， two point?cloud correction methods （angle and distance corrections） are proposed. A simulation is conducted on the effects of two correction methods， with its results verified by real point cloud. Finally， a pose estimation algorithm is also used to validate the effectiveness of the correction methods proposed.

Key words: LiDAR, intrinsic model：simultaneous localization and mapping, LeGO?LOAM

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.

Figures/Tables 24

时间	作者	$δ ρ$	$δ θ$	$δ φ$	$s$	$h$	$v$
2010	Pandey^［9］	√	√	×	×	×	×
2010	Muhammad^［4］	√	√	√	×	√	√
2010	Glennie^［8］	√	√	√	√	√	√
2011	Atanacio^［10］	√	√	√	×	√	√
2012	Mirzaei^［11］	√	√	×	√	√	√
2012	Chen^［12］	√	√	×	√	√	√
2013	Zhu^［13］	√	√	√	√	√	√
2013	Chan^［14］	√	√	√	×	×	×
2016	Nouira^［15］	√	√	√	×	×	√
2017	Bergelt^［16］	√	√	√	√	√	√

线束	$β / ? °$	$α / ? °$
1	14.807 6	-0.061 3
6	9.783 23	-0.061 4
11	4.824 82	-0.052 3
16	0.301 25	-0.060 3
17	-0.683 9	-0.067 5
22	-5.657 4	-0.080 4
27	-10.642	-0.099 9
32	-15.676	-0.117 3

序列	修正方式	$A P E t r a n s / m$	$A P E r o t / (°)$
1	原始点云	14.060	3.258
	角度修正	13.845	3.212
	距离修正	13.853	3.214
2	原始点云	9.533	2.741
	角度修正	9.450	2.686
	距离修正	9.326	2.690
3	原始点云	5.531	1.950
	角度修正	5.450	1.916
	距离修正	5.474	1.922

序列	修正方式	$E t r a n s / %$	$E r o t / (°) ? m - 1$
1	原始点云	2.566	0.846
	角度修正	2.524	0.833
	距离修正	2.529	0.835
2	原始点云	1.540	0.666
	角度修正	1.530	0.656
	距离修正	1.515	0.655
3	原始点云	2.072	0.772
	角度修正	2.055	0.768
	距离修正	2.056	0.766

References 25

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标定板	误差/mm			距离/m
标定板	无修正	角度修正	距离修正	距离/m
1	14.950 091	4.595 796	4.595 825	3.088 4
2	8.417 082	6.708 674	6.710 810	0.681 8
3	12.224 109	5.371 252	5.371 180	7.532 2
4	11.119 527	6.157 632	6.157 584	10.120 4
5	7.231 133	6.950 977	6.950 979	8.294 8

序列	距离/m	时长/s	场景
1	725.341	130	郊区公路
2	904.852	145	商业区
3	721.770	150	商业区

处理时间/s	原始点云	角度修正	距离修正
最小值	0.004 417	0.007 857	0.006 129
最大值	0.027 911	0.039 759	0.032 850
平均值	0.012 734	0.019 324	0.016 343

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Intrinsic Parameters Modeling for LiDAR and Point Cloud Correction Method

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