激光雷达外参数的自动标定  

Automatic Calibration of LiDAR External Parameters

作　　者：龚子恺 席燕辉[1] 沈大勇 Gong Zikai;Xi Yanhui;Shen Dayong(School of Electrical and Information Engineering,Changsha University of Science and Technology,Changsha 410114,Hunan,China;College of Systems Engineering,National University of Defense Technology,Changsha 410003,Hunan,China)

机构地区：[1]长沙理工大学电气与信息工程学院,湖南长沙410114 [2]国防科技大学系统工程学院,湖南长沙410003

出　　处：《激光与光电子学进展》2023年第22期283-291,共9页Laser & Optoelectronics Progress

摘　　要：在工程应用中使用三维激光雷达的基础是对激光雷达的外参数进行标定,而对激光雷达外参标定通常都需要其他传感器的数据进行联合标定,且标定方法复杂,过程耗时较长。对此,提出一种简便的自动标定算法。首先利用RANSAC算法拟出多个平面,并通过相邻点法向量的夹角进行平面的二次筛选得到其平面方程,再根据平面方程得到平面间的交点坐标,使用反对称矩阵构建旋转矩阵,进一步利用交点坐标在雷达坐标系与世界坐标系下的不同求得近似转换关系,最后利用最小二乘思想对近似矩阵进行优化,得到较为准确的旋转位移矩阵。所提算法可以在特征点、角点点云缺失的情况下,通过平面方程拟合出较为精确的角点。仿真结果表明,该算法是可行的。The basis of using 3D LiDAR in engineering application is to calibrate the external parameters of LiDAR,and the external parameters of LiDAR usually need to calibrate the data of other sensors jointly,and the calibration method is complicated and the process is long.In this paper,a simple automatic calibration algorithm is proposed.The algorithm first uses RANSAC algorithm to draw up a number of planes,and through the angle of the normal vector of the adjacent points for the secondary screening plane equation,then according to the plane equation to get the coordinates of the intersection point between the planes,using the antisymmetric matrix to construct the rotation matrix,further using the intersection point coordinates in the radar coordinate system and the world coordinate system under the difference,to obtain the approximate transformation relationship.Finally,the approximation matrix is optimized by the least square method,and a more accurate rotation displacement matrix is obtained.In the absence of feature points and corner clouds,the proposed algorithm can be used to fit more accurate corner points by plane equation.The simulation results show that the proposed calibration algorithm is feasible.

关 键 词：三维激光雷达 外参标定 RANSAC算法 反对称矩阵 最小二乘 

分 类 号：TN958.98[电子电信—信号与信息处理]