Non-singularity method for external parameter calibration of laser radar and inertial measurement unit
The invention discloses a non-singular method for external parameter calibration of a laser radar and an inertial measurement unit, relates to the technical field of multi-sensor calibration, provides inherent defects of an F.C.Park method, elaborates a root cause of a singular phenomenon generated...
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| creator | GUO MING YANG FULEI SONG HUAJIAN YUAN CHONGSHUN ZHANG ANCAI LI YUZHANG QIU JIANLONG |
| description | The invention discloses a non-singular method for external parameter calibration of a laser radar and an inertial measurement unit, relates to the technical field of multi-sensor calibration, provides inherent defects of an F.C.Park method, elaborates a root cause of a singular phenomenon generated by the F.C.Park method based on a matrix polar decomposition theorem, and on this basis, determines the singular phenomenon generated by the F.C.Park method based on Euclidean group parameters. A non-singular method for laser radar and IMU external parameter calibration is provided; from the perspective of safety, the attitude part of the unknown extrinsic parameter matrix given by the non-singular extrinsic parameter calibration method provided by the invention is constantly a determinant + 1 rotation matrix, and the accuracy and safety of Euclidean group parameter-based laser radar and IMU extrinsic parameter calibration are improved.
本发明公开了一种激光雷达与惯性测量单元外参标定的无奇异方法，涉及多传感标定技术领域，本发明提出了F.C.Park方法的固有缺陷，并基于矩阵极分解定理详细阐述了 |
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本发明公开了一种激光雷达与惯性测量单元外参标定的无奇异方法，涉及多传感标定技术领域，本发明提出了F.C.Park方法的固有缺陷，并基于矩阵极分解定理详细阐述了</description><language>chi ; eng</language><subject>ANALOGOUS ARRANGEMENTS USING OTHER WAVES ; CALCULATING ; COMPUTING ; COUNTING ; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES ; ELECTRIC DIGITAL DATA PROCESSING ; GYROSCOPIC INSTRUMENTS ; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES ; MEASURING ; MEASURING DISTANCES, LEVELS OR BEARINGS ; NAVIGATION ; PHOTOGRAMMETRY OR VIDEOGRAMMETRY ; PHYSICS ; RADIO DIRECTION-FINDING ; RADIO NAVIGATION ; SURVEYING ; TESTING</subject><creationdate>2024</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=20240524&DB=EPODOC&CC=CN&NR=118068358A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25564,76547</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20240524&DB=EPODOC&CC=CN&NR=118068358A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>GUO MING</creatorcontrib><creatorcontrib>YANG FULEI</creatorcontrib><creatorcontrib>SONG HUAJIAN</creatorcontrib><creatorcontrib>YUAN CHONGSHUN</creatorcontrib><creatorcontrib>ZHANG ANCAI</creatorcontrib><creatorcontrib>LI YUZHANG</creatorcontrib><creatorcontrib>QIU JIANLONG</creatorcontrib><title>Non-singularity method for external parameter calibration of laser radar and inertial measurement unit</title><description>The invention discloses a non-singular method for external parameter calibration of a laser radar and an inertial measurement unit, relates to the technical field of multi-sensor calibration, provides inherent defects of an F.C.Park method, elaborates a root cause of a singular phenomenon generated by the F.C.Park method based on a matrix polar decomposition theorem, and on this basis, determines the singular phenomenon generated by the F.C.Park method based on Euclidean group parameters. A non-singular method for laser radar and IMU external parameter calibration is provided; from the perspective of safety, the attitude part of the unknown extrinsic parameter matrix given by the non-singular extrinsic parameter calibration method provided by the invention is constantly a determinant + 1 rotation matrix, and the accuracy and safety of Euclidean group parameter-based laser radar and IMU extrinsic parameter calibration are improved.
本发明公开了一种激光雷达与惯性测量单元外参标定的无奇异方法，涉及多传感标定技术领域，本发明提出了F.C.Park方法的固有缺陷，并基于矩阵极分解定理详细阐述了</description><subject>ANALOGOUS ARRANGEMENTS USING OTHER WAVES</subject><subject>CALCULATING</subject><subject>COMPUTING</subject><subject>COUNTING</subject><subject>DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES</subject><subject>ELECTRIC DIGITAL DATA PROCESSING</subject><subject>GYROSCOPIC INSTRUMENTS</subject><subject>LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES</subject><subject>MEASURING</subject><subject>MEASURING DISTANCES, LEVELS OR BEARINGS</subject><subject>NAVIGATION</subject><subject>PHOTOGRAMMETRY OR VIDEOGRAMMETRY</subject><subject>PHYSICS</subject><subject>RADIO DIRECTION-FINDING</subject><subject>RADIO NAVIGATION</subject><subject>SURVEYING</subject><subject>TESTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2024</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNqNizEKwkAQANNYiPqH9QEBQ1DSSlCsUtmHNdnThbu9Y28P9Pem8AFWA8PMunJDlDqzPItHZftAIHvFGVxUoLeRCnpIqLh4UpjQ80PROApEBx7zIhVnVECZgYXUeDkCYS5KgcSgCNu2Wjn0mXY_bqr99XLvbzWlOFJOOJGQjf3QNN3h1LXH7tz-03wB0RlASw</recordid><startdate>20240524</startdate><enddate>20240524</enddate><creator>GUO MING</creator><creator>YANG FULEI</creator><creator>SONG HUAJIAN</creator><creator>YUAN CHONGSHUN</creator><creator>ZHANG ANCAI</creator><creator>LI YUZHANG</creator><creator>QIU JIANLONG</creator><scope>EVB</scope></search><sort><creationdate>20240524</creationdate><title>Non-singularity method for external parameter calibration of laser radar and inertial measurement unit</title><author>GUO MING ; YANG FULEI ; SONG HUAJIAN ; YUAN CHONGSHUN ; ZHANG ANCAI ; LI YUZHANG ; QIU JIANLONG</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_CN118068358A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>chi ; eng</language><creationdate>2024</creationdate><topic>ANALOGOUS ARRANGEMENTS USING OTHER WAVES</topic><topic>CALCULATING</topic><topic>COMPUTING</topic><topic>COUNTING</topic><topic>DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES</topic><topic>ELECTRIC DIGITAL DATA PROCESSING</topic><topic>GYROSCOPIC INSTRUMENTS</topic><topic>LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES</topic><topic>MEASURING</topic><topic>MEASURING DISTANCES, LEVELS OR BEARINGS</topic><topic>NAVIGATION</topic><topic>PHOTOGRAMMETRY OR VIDEOGRAMMETRY</topic><topic>PHYSICS</topic><topic>RADIO DIRECTION-FINDING</topic><topic>RADIO NAVIGATION</topic><topic>SURVEYING</topic><topic>TESTING</topic><toplevel>online_resources</toplevel><creatorcontrib>GUO MING</creatorcontrib><creatorcontrib>YANG FULEI</creatorcontrib><creatorcontrib>SONG HUAJIAN</creatorcontrib><creatorcontrib>YUAN CHONGSHUN</creatorcontrib><creatorcontrib>ZHANG ANCAI</creatorcontrib><creatorcontrib>LI YUZHANG</creatorcontrib><creatorcontrib>QIU JIANLONG</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>GUO MING</au><au>YANG FULEI</au><au>SONG HUAJIAN</au><au>YUAN CHONGSHUN</au><au>ZHANG ANCAI</au><au>LI YUZHANG</au><au>QIU JIANLONG</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Non-singularity method for external parameter calibration of laser radar and inertial measurement unit</title><date>2024-05-24</date><risdate>2024</risdate><abstract>The invention discloses a non-singular method for external parameter calibration of a laser radar and an inertial measurement unit, relates to the technical field of multi-sensor calibration, provides inherent defects of an F.C.Park method, elaborates a root cause of a singular phenomenon generated by the F.C.Park method based on a matrix polar decomposition theorem, and on this basis, determines the singular phenomenon generated by the F.C.Park method based on Euclidean group parameters. A non-singular method for laser radar and IMU external parameter calibration is provided; from the perspective of safety, the attitude part of the unknown extrinsic parameter matrix given by the non-singular extrinsic parameter calibration method provided by the invention is constantly a determinant + 1 rotation matrix, and the accuracy and safety of Euclidean group parameter-based laser radar and IMU extrinsic parameter calibration are improved.
本发明公开了一种激光雷达与惯性测量单元外参标定的无奇异方法，涉及多传感标定技术领域，本发明提出了F.C.Park方法的固有缺陷，并基于矩阵极分解定理详细阐述了</abstract><oa>free_for_read</oa></addata></record> |
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| subjects | ANALOGOUS ARRANGEMENTS USING OTHER WAVES CALCULATING COMPUTING COUNTING DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES ELECTRIC DIGITAL DATA PROCESSING GYROSCOPIC INSTRUMENTS LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION SURVEYING TESTING |
| title | Non-singularity method for external parameter calibration of laser radar and inertial measurement unit |
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