Laser radar self-calibration method, system and device and storage medium
The embodiment of the invention relates to the technical field of automatic driving, in particular to a laser radar self-calibration method, system and device and a storage medium, and the method comprises the steps: carrying out the fitting of a frame of point cloud collected by a laser radar, and...
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| creator | LI YIKANG YAN GUOXING LUO ZHAOTONG |
| description | The embodiment of the invention relates to the technical field of automatic driving, in particular to a laser radar self-calibration method, system and device and a storage medium, and the method comprises the steps: carrying out the fitting of a frame of point cloud collected by a laser radar, and obtaining a ground plane equation; obtaining a normal vector direction of the ground based on the ground plane equation; calculating a roll angle and a pitch angle based on the included angle between the normal vector direction and the z-axis direction; obtaining a laser radar track, and based on the laser radar track, obtaining a difference value between the forward direction of the vehicle at each moment and the forward direction of the laser radar; and obtaining the offset angle based on the difference value. According to the laser radar self-calibration method provided by the embodiment of the invention, a specific environment and a marker are not needed, and the method is suitable for most automatic driving sc |
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According to the laser radar self-calibration method provided by the embodiment of the invention, a specific environment and a marker are not needed, and the method is suitable for most automatic driving sc</description><language>chi ; eng</language><subject>ANALOGOUS ARRANGEMENTS USING OTHER WAVES ; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES ; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES ; MEASURING ; PHYSICS ; RADIO DIRECTION-FINDING ; RADIO NAVIGATION ; TESTING</subject><creationdate>2023</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20230808&DB=EPODOC&CC=CN&NR=116559845A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25564,76547</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20230808&DB=EPODOC&CC=CN&NR=116559845A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>LI YIKANG</creatorcontrib><creatorcontrib>YAN GUOXING</creatorcontrib><creatorcontrib>LUO ZHAOTONG</creatorcontrib><title>Laser radar self-calibration method, system and device and storage medium</title><description>The embodiment of the invention relates to the technical field of automatic driving, in particular to a laser radar self-calibration method, system and device and a storage medium, and the method comprises the steps: carrying out the fitting of a frame of point cloud collected by a laser radar, and obtaining a ground plane equation; obtaining a normal vector direction of the ground based on the ground plane equation; calculating a roll angle and a pitch angle based on the included angle between the normal vector direction and the z-axis direction; obtaining a laser radar track, and based on the laser radar track, obtaining a difference value between the forward direction of the vehicle at each moment and the forward direction of the laser radar; and obtaining the offset angle based on the difference value. According to the laser radar self-calibration method provided by the embodiment of the invention, a specific environment and a marker are not needed, and the method is suitable for most automatic driving sc</description><subject>ANALOGOUS ARRANGEMENTS USING OTHER WAVES</subject><subject>DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES</subject><subject>LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES</subject><subject>MEASURING</subject><subject>PHYSICS</subject><subject>RADIO DIRECTION-FINDING</subject><subject>RADIO NAVIGATION</subject><subject>TESTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2023</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNrjZPD0SSxOLVIoSkxJLFIoTs1J001OzMlMKkosyczPU8hNLcnIT9FRKK4sLknNVUjMS1FISS3LTE4FM4tL8osS01OBqlIyS3N5GFjTEnOKU3mhNDeDoptriLOHbmpBfnxqcUFicmpeakm8s5-hoZmpqaWFiamjMTFqALSaNGY</recordid><startdate>20230808</startdate><enddate>20230808</enddate><creator>LI YIKANG</creator><creator>YAN GUOXING</creator><creator>LUO ZHAOTONG</creator><scope>EVB</scope></search><sort><creationdate>20230808</creationdate><title>Laser radar self-calibration method, system and device and storage medium</title><author>LI YIKANG ; YAN GUOXING ; LUO ZHAOTONG</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_CN116559845A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>chi ; eng</language><creationdate>2023</creationdate><topic>ANALOGOUS ARRANGEMENTS USING OTHER WAVES</topic><topic>DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES</topic><topic>LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES</topic><topic>MEASURING</topic><topic>PHYSICS</topic><topic>RADIO DIRECTION-FINDING</topic><topic>RADIO NAVIGATION</topic><topic>TESTING</topic><toplevel>online_resources</toplevel><creatorcontrib>LI YIKANG</creatorcontrib><creatorcontrib>YAN GUOXING</creatorcontrib><creatorcontrib>LUO ZHAOTONG</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>LI YIKANG</au><au>YAN GUOXING</au><au>LUO ZHAOTONG</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Laser radar self-calibration method, system and device and storage medium</title><date>2023-08-08</date><risdate>2023</risdate><abstract>The embodiment of the invention relates to the technical field of automatic driving, in particular to a laser radar self-calibration method, system and device and a storage medium, and the method comprises the steps: carrying out the fitting of a frame of point cloud collected by a laser radar, and obtaining a ground plane equation; obtaining a normal vector direction of the ground based on the ground plane equation; calculating a roll angle and a pitch angle based on the included angle between the normal vector direction and the z-axis direction; obtaining a laser radar track, and based on the laser radar track, obtaining a difference value between the forward direction of the vehicle at each moment and the forward direction of the laser radar; and obtaining the offset angle based on the difference value. According to the laser radar self-calibration method provided by the embodiment of the invention, a specific environment and a marker are not needed, and the method is suitable for most automatic driving sc</abstract><oa>free_for_read</oa></addata></record> |
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| language | chi ; eng |
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| subjects | ANALOGOUS ARRANGEMENTS USING OTHER WAVES DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION TESTING |
| title | Laser radar self-calibration method, system and device and storage medium |
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