公开(公告)号：US11714174B2

公开(公告)日：2023-08-01

申请号：US16117953

申请日：2018-08-30

申请人： APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD.

发明人： Bosheng Wang ,  Yuanfan Xie ,  Jun Wang ,  He Yan ,  Liang Wang

IPC分类号： G01S7/497 ,  G01S17/42

CPC分类号： G01S7/497 ,  G01S17/42

摘要： The method comprises: creating a 3D scenario model of a calibration scenario, based on data of the calibration scenario collected by an already-calibrated 3D scanner; obtaining point cloud data collected by a to-be-calibrated multi-line laser radar at a plurality of position points in the calibration scenario respectively; aligning the point cloud data collected by the multi-line laser radar at the respective point points and point cloud data in the 3D scenario model into the same coordinate system on a principle that the respective position points are aligned with corresponding position points in the 3D scenario model; building a target function between data of points collected by the multi-line laser radar and data of matching points nearest to the points in the 3D scenario model, under the same coordinate system; calibrating the parameters of the multi-line laser radar according to the target function.