CAJ | 학술논문

基于多激光雷达的车载三维重建系统在工作时需要对激光雷达的外参数(包括三个旋转参数和三个平移参数)进行标定。针对激光雷达外参数的标定问题，根据激光雷达扫描点不可见、单线式扫描等工作特点，以基于空间向量的三维坐标系转换模型为基础，提出了一种采用三面靶标的激光雷达外参数标定方法，对靶标进行三维重建，利用随机采样一致性(RANSAC)算法进行平面分割和同名向量的提取，采用坐标系转换模型对标定参数求解，实现了激光雷达外参数的标定，并结合仿真结果以及标定前后多激光雷达系统三维重建结果对方法的有效性及精度进行了评估和验证。
기우다격광뢰체적차재삼유중건계통재공작시수요대격광뢰체적외삼수(포괄삼개선전삼수화삼개평이삼수)진행표정。침대격광뢰체외삼수적표정문제，근거격광뢰체소묘점불가견、단선식소묘등공작특점，이기우공간향량적삼유좌표계전환모형위기출，제출료일충채용삼면파표적격광뢰체외삼수표정방법，대파표진행삼유중건，이용수궤채양일치성(RANSAC)산법진행평면분할화동명향량적제취，채용좌표계전환모형대표정삼수구해，실현료격광뢰체외삼수적표정，병결합방진결과이급표정전후다격광뢰체계통삼유중건결과대방법적유효성급정도진행료평고화험증。
Extrinsic calibration of Lidar is necessary for vehicle-mounted 3D reconstruction system using multiple Lidars. Concerned on the extrinsic calibration of Lidar, as the scanning point of Lidar is invisible and scanning mode is single-lined, according to the 3D frame transforming model based on space vectors, a new calibration method is proposed, in which a trihedron target is adopted. The proposed method, which contains reconstruction of the target, segmentation of plane feature and extraction of corresponding vectors using the Random Sample Consensus (RANSAC) algorithm, solving the extrinsic parameters using the transforming model of 3D frame based on space vectors, was applied to extrinsic calibration of Lidar in a 3D reconstruction system. The effectiveness and precision of the method are proved by simulation and 3D reconstruction importing the calibration results.