Method and device for calibrating external parameters between laser radar and vehicle, and electronic equipment

• Main Authors: HAN ZHIHUA, ZHANG SUNPEI, ZHANG BINGGANG
• Format: Patent
• Language: Chinese; English
• Published: 13.05.2022
• 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

The invention provides an external parameter calibration method and device between a laser radar and a vehicle, and electronic equipment, and the method comprises the steps: appointing a second reflection point corresponding to a side surface according to a first reflection point corresponding to a bottom plate after obtaining a point cloud obtained by scanning a calibration plate through the laser radar, determining a top surface center point coordinate, a side surface center point coordinate corresponding to each side surface and a bottom surface fitting plane; and determining a top surface fitting plane and each side surface fitting plane, determining coordinate values of a plurality of vertexes of the calibration plate in a laser radar coordinate system in combination with the bottom surface fitting plane, and calibrating external parameters between the laser radar and the vehicle according to the coordinate values and pre-acquired coordinate values of a plurality of vertexes in a vehicle coordinate syste