光学精密工程2025，Vol.33Issue(16)：2543-2551,9.DOI:10.37188/OPE.20253316.2543
多线激光雷达旋转平台外参标定方法研究
Research on the external calibration method for multi-beam LiDAR rotating system
摘要
Abstract
To achieve full-view point cloud data acquisition of three-dimensional(3D)scenes,this paper proposed a multi-beam LiDAR rotational scanning system.The quality of the 3D point cloud reconstruct-ed by this system was highly dependent on the pose transformation relationship between the LiDAR and the rotating platform.However,existing calibration methods were mainly designed for single-line LiDAR applications and faced issues such as overly simplistic calibration models and severe parameter coupling.Therefore,this paper presented an external parameter calibration method for multi-beam LiDAR rotating platforms based on planar features.First,a mathematical model for calibrating the target parameters was constructed based on plane features by integrating the RAndom SAmple Consensus(RANSAC)algo-rithm.Then,an improved Particle Swarm Optimization(PSO)algorithm,which introduced a linearly de-creasing inertia weight coefficient to replace the fixed inertia weight,was employed to optimize the con-structed mathematical model.Finally,the accuracy and effectiveness of the proposed calibration strategy were validated through point cloud thickness analysis and 3D scene reconstruction evaluation in both simu-lation and real-world scenarios.Experimental results show that the point cloud thickness is reduced from 7.668 1 cm before calibration to 4.039 0 cm after calibration,indicating that the point cloud distribution re-constructed using the proposed calibration method is more uniform.The comparison of point cloud distri-bution in reconstructed scenes before and after calibration further verifies the effectiveness and reliability of the proposed method.关键词
多线激光雷达/雷达标定/外参标定/三维重建/点云Key words
multi-beam LiDAR/LiDAR calibration/external calibration/3D reconstruction/point cloud分类
信息技术与安全科学引用本文复制引用
王世强,孟召宗,高楠,张宗华..多线激光雷达旋转平台外参标定方法研究[J].光学精密工程,2025,33(16):2543-2551,9.基金项目
国家自然科学基金资助项目(No.U2341275,No.52075147) （No.U2341275,No.52075147）
河北省教育厅科学研究项目(No.JZX2024021) （No.JZX2024021）
河北工业大学创新研究院(石家庄)石家庄市科技合作专项基金资助项目(No.SIZZXA24008) （石家庄）
