2D激光雷达和摄像机最小解标定的多解筛选及参数优化  

Multi solution selection and parameter optimization for minimum solution calibration of 2D laser radar and camera

作　　者：彭梦 陈白帆[2] 邓作杰[1] 邬书跃 Peng Meng;Chen Baifan;Deng Zuojie;Wu Shuyue(School of Computer and Communication,Hunan Institute of Engineering,Xiangtan 411104,China;School of Automation,Central South University,Changsha 410083,China)

机构地区：[1]湖南工程学院计算机与通信学院,湘潭411104 [2]中南大学自动化学院,长沙410083

出　　处：《仪器仪表学报》2021年第7期89-97,共9页Chinese Journal of Scientific Instrument

基　　金：湖南省自然科学基金(2018JJ2082);湖南省教育厅资助科研项目(18B386,18A343)资助。

摘　　要：多解问题是2D激光雷达和摄像机最小解标定方法的热点难题,本文针对多解问题,在最小解标定过程中提出3个改进措施。首先,利用传感器的可视空间约束剔除棋盘格不能被传感器观测的假解。然后,利用边界激光点到边界线段的约束,改进了真解选择的误差评价函数。最后,利用棋盘格边界约束求解平移向量的最小二乘解。实验中进行仿真数据和真实数据测试,结果表明本文方法对比Francisco方法能提高真解命中率和标定精度。当激光点的噪声方差小于20 mm时,本文方法的真解命中率在98%左右,满足实际应用的需求。相对与传统最小解标定方法,本文利用棋盘格边界约束和可视空间约束对多解集合进行筛选,并优化了平移向量,因此有效提高最小解标定方法的性能。Multi solution is a difficult problem in minimal solution method for extrinsic calibration of 2 D laser radar and camera.This paper proposes three improvement measures for this problem and applies them to the minimum solution calibration process.Firstly,the observable spatial constraints of the sensor are used to eliminate the false solutions in which checkerboard cannot be observed by these sensors.Then,the error evaluation function of true solution selection is improved by using the constraint between the boundary laser points and boundary line segments.Finally,the least square solution of the translation parameters is solved by using chessboard boundary constraints.Simulation data and real data are tested in the experiment,and results show that the method can improve the hit rate of the true solution and calibration accuracy compared with Francisco method.When the noise variance of laser point is less than 20 mm,the hit rate of the true solution is about 98%,which meets the requirements of practical application.Compared with the traditional minimum solution calibration method,this paper uses checkerboard boundary constraints and observable spatial constraints to choose multiple solution sets,and optimizes the translation parameters.As a result,it can effectively improve the performance of the minimum solution calibration method.

关 键 词：激光雷达 摄像机 参数标定 多解筛选 最小解 

分 类 号：TH89[机械工程—仪器科学与技术] TP242[机械工程—精密仪器及机械]