车载激光扫描仪外参数标定方法设计与实现

Design and Implementation of Vehicle Laser Scanner’s External Parameter Calibration

摘要:

提出了车载移动测量系统中激光扫描仪位置和姿态的标定方法.首先，定义了车载坐标系与激光扫描仪坐标系，将扫描仪的标定简化为2个坐标系转换参数的求取.然后，利用标准靶球球心和扫描仪特征点作为公共点，借助全站仪建立的临时水平坐标系的测量结果计算得到车载坐标系与扫描仪坐标系的转换参数.最后，通过多次试验分析了该方法的重复精度，而且在逸仙高架路上的实际车载数据采集和处理也验证了该方法的可行性.

关键词:车载移动测量系统; 激光扫描仪; 标定; 坐标转换; 圆拟合

Abstract:

This paper proposes a method to calibrate the location and gesture of laser scanner in a mobile mapping system. Firstly, vehicle and laser scanner coordinate systems were defined to simplify the calibration of the scanner as the calculation of transformation parameters. Secondly, a total station was taken to observe the coordinates of common points which consist of center of standard target ball and feature point of the scanner. With the help of the observed coordinates in a horizontal coordinate system, the transformation parameters of the vehicle and scanner coordinate systems were figured out. Finally, the method was proven to be good in repeatability through multiple experiments. The reliability is also be proven by the process of data collected on Yixian elevated road with the mobile mapping system.

Key words:mobile mapping system; laser scanner; calibration; coordinate transformation; circle fitting