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Panorama three-dimensional laser sensor data calibration method and apparatus
Authors
卜春光
庄严
+3 more
赵忆文
闫飞
高英丽
Publication date
18 November 2015
Publisher
Abstract
本发明涉及一种全景三维激光传感器数据校准方法和装置。所述装置包括三维激光传感器和标定装置。所述方法包括以下步骤:1)将二维激光传感器的扫描数据按yL轴的正负平均分为两个部分,构成激光的扫描平面;当旋转云台带动二维激光传感器旋转360度时,yL轴的正负两部分激光数据组成两个空间三维点云数据;2)从两个空间三维点云数据中提取标定所需的激光数据特征点;3)对两个空间三维点云数据中激光点的距离进行优化得到标定参数。本发明解决了手动点选匹配对所引入的人为误差不可控和时间开销大问题,充分考虑影响数据精度的可能因素,提高传感器标定精度,并提升了标定方法的通用性
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Last time updated on 03/12/2017