论文标题
使用光电探测器和平面板进行大规模应用的自动激光外部校准系统
Automatic LiDAR Extrinsic Calibration System using Photodetector and Planar Board for Large-scale Applications
论文作者
论文摘要
本文介绍了一种新型的自动校准系统，以估计安装在移动平台上的激光雷达的外部参数，以在大规模生产高度自动化车辆的大规模生产中进行传感器错位检查。为了获得外部校准的次级和亚中心准确度，本研究提出了一个具有嵌入式光电探测器阵列的目标板的新概念，称为PD靶标系统，以找到对应表面上对应的激光束的精确位置。此外，所提出的系统仅需要在固定姿势近距离的固定姿势的简单设计，以便于汽车制造环境中很容易适用。在低分辨率激光雷达上对拟议系统的实验评估表明，可以在0.1度和3 mm的精度水平内估计LiDAR偏移姿势。提议的校准系统的高精度和简单性使其可用于自主系统的可靠性和安全性的大规模应用。
This paper presents a novel automatic calibration system to estimate the extrinsic parameters of LiDAR mounted on a mobile platform for sensor misalignment inspection in the large-scale production of highly automated vehicles. To obtain subdegree and subcentimeter accuracy levels of extrinsic calibration, this study proposed a new concept of a target board with embedded photodetector arrays, named the PD-target system, to find the precise position of the correspondence laser beams on the target surface. Furthermore, the proposed system requires only the simple design of the target board at the fixed pose in a close range to be readily applicable in the automobile manufacturing environment. The experimental evaluation of the proposed system on low-resolution LiDAR showed that the LiDAR offset pose can be estimated within 0.1 degree and 3 mm levels of precision. The high accuracy and simplicity of the proposed calibration system make it practical for large-scale applications for the reliability and safety of autonomous systems.
