空间控制技术与应用2017，Vol.43Issue(4)：57-62,6.DOI:10.3969/j.issn.1674-1579.2017.04.010
基于标定场的激光雷达两步标定方法
Two-Step Calibration Method of Lidar Sensor Based on Calibration Field
摘要
Abstract
In order to solve the problem of high precision distance and angle measurement of lidar with large measurement range,a two-step calibration method of lidar sensor based on calibration field is proposed in this paper.Based on the analysis of the angle measurement error and the distance measurement error of lidar,an error correction model is proposed in this paper.This model separates the distance correction from the angle correction.First,the calibration field is used to complete the angle calibration,and the external parameters are also calculated in this step.Second,the baseline field is used to complete the distance calibration.This method reduces the correlation between the distance calibration parameters and the angle calibration parameters,and guarantees the calibration precision and accuracy.The experimental results show that the method is reasonable and effective,and is able to complete the high precision calibration of lidar.关键词
激光雷达/两步标定/标定场Key words
lidar/two-step calibration/calibration field分类
信息技术与安全科学引用本文复制引用
吴奋陟,郭绍刚,朱飞虎,王立,吴云,刘达..基于标定场的激光雷达两步标定方法[J].空间控制技术与应用,2017,43(4):57-62,6.基金项目
国家重点基础研究发展计划(973)资助项目(2013CB733100). （973）
