Title:
LASER SCANNING DEVICE CALIBRATION METHOD, APPARATUS, DEVICE, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2019/037484
Kind Code:
A1
Abstract:
A laser scanning device (101) calibration method, comprising: acquiring, on the basis of at least two frames of point cloud data obtained by scanning a target area by the laser scanning apparatus (101), the first coordinates of a ground feature element in each frame of point cloud data, the first coordinates being coordinates of the ground feature element in a laser coordinate system; determining, on the basis of map data of the target area of a vehicle, the second coordinates of the ground feature element in each frame of point cloud data in a vehicle coordinate system; determining, for each frame of point cloud data, an offset posture of each frame point cloud data according to the first coordinates and second coordinates of the ground feature element; and calculating the value of a laser external parameter of the laser scanning device (101) according to the offset postures of the at least two frames of point cloud data, so as to calibrate the laser scanning device (101).
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Inventors:
ZENG CHAO (CN)
Application Number:
PCT/CN2018/087251
Publication Date:
February 28, 2019
Filing Date:
May 17, 2018
Export Citation:
Assignee:
TENCENT TECH SHENZHEN CO LTD (CN)
International Classes:
G01C25/00; G01S17/86; G01S17/89; G01S17/931
Foreign References:
| CN105203023A | 2015-12-30 | |||
| CN104833372A | 2015-08-12 | |||
| CN104019829A | 2014-09-03 | |||
| CN106996795A | 2017-08-01 | |||
| CN105180811A | 2015-12-23 | |||
| US20160070981A1 | 2016-03-10 | |||
| CN201710731253A | 2017-08-23 |
Other References:
See also references of EP 3686557A4
Attorney, Agent or Firm:
ADVANCE CHINA IP LAW OFFICE (CN)
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