阅读说明：本技术 用于确定位置姿态数据的方法、装置、设备和介质 (For determining the method, apparatus, equipment and medium of position and attitude data ) 是由 蔡仁澜 李晓涛 刘文杰 彭亮 宋适宇 于 2019-09-05 设计创作，主要内容包括：根据本公开的实施例,提供了无人驾驶领域用于确定位置姿态数据的方法、装置、设备和计算机可读存储介质。该方法包括基于由第一激光雷达扫描预定空间而获得的扫描点云数据,确定与预定空间相关联的参考点云数据,预定空间中布置有用于发送模拟定位信号的发送设备和基于模拟定位信号确定定位误差的误差确定设备。该方法还包括基于定位误差、由车辆在预定空间内接收到的模拟定位信号以及车辆的惯性测量单元数据,确定针对车辆的位置姿态数据。该方法还包括基于参考点云数据、车辆的位置姿态数据和由车辆上的第二激光雷达获得的测试点云数据,确定第二激光雷达的位置姿态数据。通过该方法,降低了对室外卫星导航系统环境的依赖,并且节省了激光雷达标定时间。(In accordance with an embodiment of the present disclosure, unmanned field is provided for determining the method, apparatus, equipment and computer readable storage medium of position and attitude data.This method includes based on the scanning point cloud data obtained by first laser radar scanning predetermined space, it determines reference point clouds data associated with predetermined space, is disposed with the sending device for sending simulator locating signal in predetermined space and determines that the error of position error determines equipment based on simulator locating signal.This method further includes the Inertial Measurement Unit data based on position error, the simulator locating signal and vehicle that are received in predetermined space by vehicle, determines the position and attitude data for being directed to vehicle.This method further includes determining the position and attitude data of second laser radar based on reference point clouds data, the position and attitude data of vehicle and the test point cloud data obtained by the second laser radar on vehicle.In this way, reducing the dependence to outdoor satellite navigation system environment, and save the laser radar nominal time.)

1. a kind of method for determining position and attitude data, comprising:

Based on the scanning point cloud data obtained by first laser radar scanning predetermined space, determination is related to the predetermined space The reference point clouds data of connection are disposed with sending device for sending simulator locating signal in the predetermined space and based on described Simulator locating signal determines that the error of position error determines equipment；

Based on the position error, the simulator locating signal and the vehicle that are received in the predetermined space by vehicle Inertial Measurement Unit data, determine be directed to the vehicle position and attitude data；And

It is obtained based on the reference point clouds data, the position and attitude data of the vehicle and by the second laser radar on the vehicle The test point cloud data obtained, determines the position and attitude data of the second laser radar.

2. according to the method described in claim 1, wherein determining that reference point clouds data include:

Obtain the coordinate information of the reference point in the predetermined space；

Based on partial scan point cloud data related with the reference point and the coordinate information in the scanning point cloud data, really The position and attitude data of the fixed first laser radar；And

Based on the position and attitude data and the scanning point cloud data, the reference point clouds data are determined.

3. according to the method described in claim 1, wherein determining that the position and attitude data of the second laser radar include:

Determine position candidate attitude data of the second laser radar relative to the vehicle；

Position and attitude data based on the position candidate attitude data and the vehicle map the test point cloud data To coordinate system identical with the reference point clouds data；

Determine the matching degree of the test point cloud data and the reference point clouds data through mapping；And

It is higher than threshold level in response to the matching degree, the position candidate attitude data is determined as the second laser thunder The position and attitude data reached.

4. according to the method described in claim 3, wherein determining the position and attitude data of the second laser radar further include:

It is lower than threshold level in response to the matching degree, updates the position candidate attitude data.

5. according to the method described in claim 3, wherein the position candidate attitude data includes at least one scheduled position Parameter and at least one scheduled attitude parameter.

6. according to the method described in claim 3, wherein determining the test point cloud data and the reference point clouds through mapping The matching degree of data includes:

From through mapping the test point cloud data and the reference point clouds data in determine location parameter and attitude parameter equal A part of data matched；And

The total number of data, determines the matching journey in number and the reference point clouds data based on a part of data Degree.

7. a kind of for determining the device of position and attitude data, comprising:

First reference point clouds data determining module is configured as based on the sweeping for obtaining by first laser radar scanning predetermined space Point cloud data is retouched, reference point clouds data associated with the predetermined space is determined, is disposed in the predetermined space for sending out It send the sending device of simulator locating signal and determines that the error of position error determines equipment based on the simulator locating signal；

Vehicle location attitude data determining module is configured as based on the position error, by vehicle in the predetermined space The Inertial Measurement Unit data of the simulator locating signal and the vehicle that receive determine the position for being directed to the vehicle Attitude data；And

First radar site attitude data determining module is configured as the position based on the reference point clouds data, the vehicle Attitude data and the test point cloud data obtained by the second laser radar on the vehicle, determine the second laser radar Position and attitude data.

8. device according to claim 7, wherein the first reference point clouds data determining module includes:

Coordinate information obtains module, is configured as obtaining the coordinate information of the reference point in the predetermined space；

Second radar site attitude data determining module is configured as being based on having in the scanning point cloud data with the reference point The partial scan point cloud data and the coordinate information of pass, determine the position and attitude data of the first laser radar；And

Second reference point clouds data determining module is configured as based on the position and attitude data and the scanning point cloud data, Determine the reference point clouds data.

9. device according to claim 7, wherein the first radar site attitude data determining module includes:

Position candidate attitude data determining module is configured to determine that candidate of the second laser radar relative to the vehicle Position and attitude data；

Mapping block is configured as the position and attitude data based on the position candidate attitude data and the vehicle, by institute It states test point cloud data and is mapped to coordinate system identical with the reference point clouds data；

First matching degree determining module is configured to determine that the test point cloud data and the reference point clouds number through mapping According to matching degree；And

Position and attitude data determining module is configured to respond to the matching degree higher than threshold level, by the candidate bit Set the position and attitude data that attitude data is determined as the second laser radar.

10. device according to claim 9, wherein the first radar site attitude data determining module further include:

Update module is configured to respond to the matching degree lower than threshold level, updates the position candidate attitude data.

11. device according to claim 9, wherein the position candidate attitude data includes at least one scheduled position Parameter and at least one scheduled attitude parameter.

12. device according to claim 9, wherein the first matching degree determining module includes:

Matched data determining module, be configured as from through mapping the test point cloud data and the reference point clouds data in really Location parameter and the matched a part of data of attitude parameter；And

Second matching degree determining module is configured as in the number based on a part of data and the reference point clouds data The total number of data determines the matching degree.

13. a kind of electronic equipment, the equipment include:

One or more processors；And

Storage device, for storing one or more programs, when one or more of programs are by one or more of processing Device executes, so that one or more of processors realize such as method of any of claims 1-6.

14. a kind of computer readable storage medium is stored thereon with computer program, realization when described program is executed by processor Such as method of any of claims 1-6.

Technical field

Embodiment of the disclosure relates generally to unmanned field, and more particularly, to for determining position and attitude Method, apparatus, equipment and the medium of data.

Background technique

High-precision location technique is that the important component of unmanned technology and unmanned vehicle carry out road The basis of diameter planning, control decision and perception.Traditional locating scheme mainly includes based on Global Navigation Satellite System (GNSS) locating scheme, the locating scheme based on laser radar and the positioning side based on camera of/Inertial Measurement Unit (IMU) Case.

With the development of unmanned vehicle technology, using Global Navigation Satellite System/Inertial Measurement Unit combination laser radar come Carrying out drawing becomes extremely important.Accurate map can be provided for unmanned vehicle by the combination of above-mentioned three kinds of technologies, to protect Demonstrate,prove the correct traveling of vehicle.However, passing through Global Navigation Satellite System/Inertial Measurement Unit combination laser radar drawing mistake There is also many problems to be solved in journey.

Summary of the invention

According to an example embodiment of the present disclosure, a kind of scheme of determining position and attitude data is provided.

In the first aspect of the disclosure, a kind of method for determining position and attitude data is provided.This method includes Based on the scanning point cloud data obtained by first laser radar scanning predetermined space, reference associated with predetermined space is determined Point cloud data is disposed with the sending device for sending simulator locating signal in predetermined space and is determined based on simulator locating signal The error of position error determines equipment.This method further includes based on position error, the mould received in predetermined space by vehicle The Inertial Measurement Unit data of quasi- positioning signal and vehicle, determine the position and attitude data for being directed to vehicle.This method further includes Based on reference point clouds data, the position and attitude data of vehicle and the test point cloud number obtained by the second laser radar on vehicle According to determining the position and attitude data of second laser radar.

In the second aspect of the disclosure, provide a kind of for determining the device of position and attitude data.The device includes First reference point clouds data determining module, is configured as based on the scanning element obtained by first laser radar scanning predetermined space Cloud data determine reference point clouds data associated with predetermined space, are disposed in predetermined space for sending simulator locating letter Number sending device and determine that the error of position error determines equipment based on simulator locating signal；Vehicle location attitude data determines Module is configured as being used to based on position error, the simulator locating signal received in predetermined space by vehicle and vehicle Property measuring unit data, determine be directed to vehicle position and attitude data；And the first radar site attitude data determining module, quilt It is configured to reference point clouds data, the position and attitude data of vehicle and the test point obtained by the second laser radar on vehicle Cloud data determine the position and attitude data of second laser radar.

In the third aspect of the disclosure, a kind of electronic equipment, including one or more processors are provided；And storage Device, for storing one or more programs, when one or more programs are executed by one or more processors so that one or The method that multiple processors realize the first aspect according to the disclosure.

In the fourth aspect of the disclosure, a kind of computer readable storage medium is provided, is stored thereon with computer journey Sequence realizes the method for the first aspect according to the disclosure when program is executed by processor.

It should be appreciated that content described in Summary be not intended to limit embodiment of the disclosure key or Important feature, it is also non-for limiting the scope of the present disclosure.The other feature of the disclosure will become easy reason by description below Solution.

Detailed description of the invention

It refers to the following detailed description in conjunction with the accompanying drawings, the above and other feature, advantage and aspect of each embodiment of the disclosure It will be apparent.In the accompanying drawings, the same or similar attached drawing mark indicates the same or similar element, in which:

Fig. 1 shows according to an embodiment of the present disclosure for determining the signal of the example context 100 of position and attitude data Figure；

Fig. 2 shows according to an embodiment of the present disclosure for determining the flow chart of the method 200 of position and attitude data；

Fig. 3 shows according to an embodiment of the present disclosure for determining the flow chart of the method 300 of position and attitude data；

Fig. 4 shows according to an embodiment of the present disclosure for determining the schematic block diagram of the device 400 of position and attitude data； And

Fig. 5 shows the block diagram that can implement the calculating equipment 500 of multiple embodiments of the disclosure.

Specific embodiment

Embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the certain of the disclosure in attached drawing Embodiment, it should be understood that, the disclosure can be realized by various forms, and should not be construed as being limited to this In the embodiment that illustrates, providing these embodiments on the contrary is in order to more thorough and be fully understood by the disclosure.It should be understood that It is that being given for example only property of the accompanying drawings and embodiments effect of the disclosure is not intended to limit the protection scope of the disclosure.

In the description of embodiment of the disclosure, term " includes " and its similar term should be understood as that opening includes, I.e. " including but not limited to ".Term "based" should be understood as " being based at least partially on ".Term " one embodiment " or " reality Apply example " it should be understood as " at least one embodiment ".Term " first ", " second " etc. may refer to different or identical right As.Hereafter it is also possible that other specific and implicit definition.

The sensors such as unmanned vehicle vehicle-mounted global satellite navigation system, Inertial Measurement Unit, camera and laser radar it is opposite Position, posture relationship Accurate Calibration be that Multi-sensor Fusion perceives the premise that can work normally.Currently, usually inertia is surveyed Origin of the center of unit as bodywork reference frame is measured, therefore measures positional relationship of the laser radar relative to bodywork reference frame It is equivalent to the positional relationship of measurement laser radar and Inertial Measurement Unit.And it is often used global satellite often in Calibration of Laser radar Navigation system is demarcated as supplementary means, and general flow is: going estimation used using Global Satellite Navigation System observation information Property measuring unit error parameter, finally obtains position and the high-precision attitude of centimetre class precision；Laser radar point cloud is with above-mentioned After point cloud compensation is completed in high-precision position and attitude input, determine laser radar relative to bodywork reference frame by scheduled operation Position and attitude, i.e. the outer parameter of laser radar.

It is promoted however as the volume production of unmanned vehicle, finds a good outdoor Global Satellite Navigation System scene, and by nothing People's vehicle is driven to the scene with the Global Satellite Navigation System/Inertial Measurement Unit fusion positioning calculation effect ensured, to nothing People depot commercialization family is not very friendly.And in actual application also due to outdoor detection signal unstable cause cannot The position and attitude data of laser radar are determined well.

In accordance with an embodiment of the present disclosure, it proposes a kind of for determining the scheme of position and attitude.This method is pre- by setting Determine space, the error determination that the apparatus for transmitting signal and anolog base station of analog satellite navigation system are arranged in predetermined space is set It is standby.Then the reference point clouds of predetermined space are determined by using the scanning point cloud data that laser radar scanning indoor scene obtains Data.Then vehicle to be calibrated is travelled in predetermined space to obtain test point cloud data.Finally by test point cloud data Position and attitude data of the laser radar relative to bodywork reference frame are determined compared with reference point clouds data.Pass through above-mentioned side Method reduces the dependence to outdoor good satellite navigation system environment, and can quickly finish vehicle under controlled mode The calibration of laser radar, saves the laser radar nominal time, improves calibration efficiency.

Hereinafter reference will be made to the drawings to specifically describe embodiment of the disclosure.Herein, term " position and attitude " refers to object Position and posture of the body in preferred coordinates system.For example, the position and attitude of object for example can use two in two-dimensional coordinate system Coordinate and course angle etc. are tieed up to indicate.In three-dimensional system of coordinate, the position and attitude of object for example can use three-dimensional coordinate, pitching Angle, course angle and roll angle etc. indicate.

Fig. 1 shows embodiment of the disclosure can be in the schematic diagram for the example context 100 wherein realized.Environment 100 is total It may include predetermined space 101 on body.Predetermined space 101 is to preset any appropriate space that can test vehicle.

It can have one or more sending device 102-1,102-2 ..., 102-N in predetermined space 101, wherein N is Positive integer is referred to as sending device 102 for convenience later.In some embodiments, sending device 102 can be used In analog satellite navigation system (for example, Global Navigation Satellite System), to send simulator locating signal.Global Navigation Satellite System It can be GPS of America, Russian GLONASS, European Union GALILEO or Chinese Beidou satellite navigation system.Above-mentioned example is only to use In the description disclosure, rather than the specific restriction to the disclosure.Satellite navigation system according to an embodiment of the present disclosure can be to appoint Meaning can be realized the satellite system of navigation feature.

In some embodiments, sending device 102 is uniformly distributed in predetermined space 101.In some embodiments, it sends The distribution of equipment 102 is so that the signal in predetermined space is uniformly distributed.Above-mentioned example is only for the description disclosure, rather than to this The position of sending device 102 can be arranged in disclosed specific restriction, those skilled in the art based on needing.In some embodiments In, sending device 102 is known in the coordinate in predetermined space, such as is measured by total station to obtain.

Some reference points are also laid in predetermined space 101, for example, manually lay some marks, corner, color become Change big point.The coordinate information of these reference points is also precognition, such as the coordinate information of these reference points can be by total station To obtain.

For predetermined space 101, sweeping in predetermined space 101 can be obtained by high-precision measurement laser scanner Retouch point cloud data.

It there also is provided in predetermined space 101 and determine equipment 103 for the error of anolog base station.Error determines equipment 103 Coordinate it is known that it generates measurement coordinate by receiving simulator locating signal from sending device 102, then by the survey of generation Amount coordinate and its own coordinate are compared to determine position error 109.Therefore, the available survey of equipment 103 is determined from error The position error 109 of amount.

Predetermined space 101 can be used for demarcating (for ease of description, the also referred to as second laser of laser radar 106 of vehicle 104 Radar) position and attitude data relative to vehicle 104.Vehicle 101 refer to any vehicles it is positioned or its His object.It should be appreciated, however, that this purpose only by way of example, and have no intention to limit the scope of the present disclosure.The reality of the disclosure Other moving objects can also be similarly applied even to by applying example.

Laser radar 106 scans predetermined space 101 when vehicle 104 is run in predetermined space 101 to obtain test point Cloud data 108.Also there is satellite navigation data reception device 105 on vehicle 104, be used for acquisition and sent by sending device 102 Simulator locating signal 107, the simulator locating signal 107 be used for analog satellite navigation data.In some embodiments, satellite navigation Therefore data sink 105 can also determine course using the simulator locating signal of dual-antenna reception for double antenna Angle.

Vehicle 104 can also have Inertial Measurement Unit 112.Inertial Measurement Unit 112 is used to measure three axis of vehicle 104 The device of attitude angle (or angular speed) and acceleration.In some embodiments, Inertial Measurement Unit 112 includes three uniaxial Accelerometer and three uniaxial gyros.Accelerometer founds the acceleration letter of three axis for detection object in carrier coordinate system unification and independence Number, and angular velocity signal of the gyro detection carrier relative to navigational coordinate system.

It further include calculating equipment 110 in environment 100.Calculating equipment 110 is any electronic equipment for being capable of handling data, packet Include but be not limited to mobile phone (for example, smart phone), laptop computer, portable digital-assistant (PDA), e-book (electricity The philosophical works) it is reader, portable game machine, portable media player, game machine, set-top box (STB), smart television (TV), a It is people's computer, laptop computer, car-mounted computer (for example, navigation elements), multicomputer system, consumption electronic product, big Type computer, including distributed computing environment of any one in above system or equipment etc..

Received simulator locating signal 107, position error 109 and Inertial Measurement Unit can be based on by calculating equipment 110 Data 113 generate the position and attitude data of vehicle 104.In some embodiments, equipment 110 is calculated by believing simulator locating Numbers 107, position error 109 and Inertial Measurement Unit data 113 are merged using common blending algorithm to obtain vehicle 104 position and attitude data.It calculates equipment 110 and also obtains the test point cloud data obtained by the laser radar 106 of vehicle 104 108。

Calculating equipment 110 can sweep by the coordinate information of the reference point acquired in predetermined space and by measurement laser The scanning point cloud data of instrument acquisition is retouched to generate reference point clouds data.In some embodiments, based on the coordinate information of reference point Direction or the position of measurement laser radar are obtained with partial scan point cloud data related with reference point in scanning point cloud data Attitude data.After the position and attitude that measurement laser radar has been determined, scanning point cloud data can be adjusted to generate ginseng Examine point cloud data.

Position and attitude data, reference point clouds data and test point cloud data based on vehicle 104 can be recognized by calculating equipment 110 108 determine the position and attitude data 111 of laser radar 106.

It is described above in conjunction with Fig. 1 according to an embodiment of the present disclosure for determining the example context of position and attitude data 100 schematic diagram.It is described in detail below with reference to Fig. 2 according to an embodiment of the present disclosure for determining the example of position and attitude data The flow chart of method 200.For example, method 200 can be executed by calculating equipment 110 as shown in Figure 1.Below with reference to Fig. 1 Each movement of method 200 is described in detail.It should be appreciated that method 200 can also include unshowned additional move and/or can To omit shown movement.The scope of the present disclosure is not limited in this respect.

At frame 202, equipment 110 is calculated based on the scanning element obtained by first laser radar scanning predetermined space 101 Cloud data determine reference point clouds data associated with predetermined space 101, are disposed in predetermined space 101 for sending simulation The sending device 102 of positioning signal 107 and determine that the error of position error 109 determines equipment 103 based on simulator locating signal.

Outdoor scene is simulated using predetermined space 101, then realizes the calibration to vehicle 104 in predetermined space 101.In The sending device 102 for analog satellite navigation system is provided in predetermined space 101, sending device 102 is for sending simulation Positioning signal 107.Predetermined space 101 determines equipment 103 being provided with the error for anolog base station.Error determines equipment 103 For measurement and positioning error 109.

Mark as a reference point is additionally provided in predetermined space 101, in order to which first laser radar is in the predetermined sky of scanning Between 101 when can identify these reference points.First laser radar can be high-precision laser radar, the point cloud number of scanning According to reference point clouds data can be treated as.

In some embodiments, the coordinate information for the reference point that equipment 110 obtains in predetermined space 101 is calculated.Then, it counts It calculates equipment 110 and is based on partial scan point cloud data related with reference point and coordinate information in scanning point cloud data, determine the The position and attitude data of one laser radar, the direction including first laser radar.Then it calculates equipment 110 and is based on position and attitude number According to scanning point cloud data, determine reference point clouds data.

At frame 204, equipment 110 is calculated based on position error 109, the mould received in predetermined space by vehicle 104 The Inertial Measurement Unit data 113 of quasi- positioning signal 107 and vehicle 104, determine the position and attitude data for being directed to vehicle 104.

In some embodiments, it calculates equipment 110 and is receiving position error 109, simulator locating signal 107 and inertia survey What is determined when measuring cell data 113 by common blending algorithm goes out the position and attitude data of vehicle.

In some embodiments, it is handled by position error 109 and simulator locating signal 107, can determine essence Spend very high positioning signal.Then high-precision positioning signal is merged with Inertial Measurement Unit data 113 to determine vehicle Position and attitude.

In some embodiments, the satellite navigation data reception device 105 in vehicle 104 is double antenna.Therefore, pass through it Received data can determine out position and course angle.It is combining after being adjusted with position error 109 by Inertial Measurement Unit 112 obtained pitch angles and roll angle determine the position and attitude of vehicle 104.

At frame 206, equipment 110 is calculated based on reference point clouds data, the position and attitude data of vehicle 104 and by vehicle The test point cloud data 108 that second laser radar 106 on 104 obtains, determines the position and attitude number of second laser radar 106 According to.

Equipment 110 is calculated by the way that measurement pointcloud data 108 are carried out position and attitude by the position and attitude data of vehicle 104 Adjustment, is then matched the position appearance to determine second laser radar 106 relative to bodywork reference frame with reference point clouds data State data.Below in conjunction with the process for the position and attitude data that determining second laser radar 106 is described in detail in Fig. 3.

By the above method, the dependence to outdoor good satellite navigation system environment is reduced, and can be controlled The calibration that vehicle laser radar is quickly finished under mode improves calibration efficiency, saves the nominal time.

It is above that Fig. 2 shows the flow charts of the method 200 according to an embodiment of the present disclosure for data assessment.Below The process of the position and attitude data for determining second laser radar 106 of Fig. 2 center 206 is described in detail in conjunction with Fig. 3.Fig. 3 shows Go out according to an embodiment of the present disclosure for determining the flow chart of the method 300 of position and attitude data.

At frame 302, calculates equipment 110 and determine position candidate posture number of the second laser radar 106 relative to vehicle 104 According to.It calculates equipment 110 and position candidate posture of the scheduled value as second laser radar 106 relative to vehicle 104 is set first. Position candidate attitude data includes at least one scheduled location parameter and at least one scheduled attitude parameter.

Location parameter and attitude parameter in some embodiments, initial position candidate attitude data are zero, i.e., empty Between coordinate (x, y, z) and comfortable state parameter-pitch angle, course angle, roll angle be disposed as zero.

At frame 304, position and attitude data of the equipment 110 based on position candidate attitude data and vehicle 104 are calculated, it will Test point cloud data 108 is mapped to coordinate system identical with reference point clouds data.It calculates equipment 110 and is obtaining vehicle 104 After position and attitude data, the position and attitude data of second laser radar 106, the test that second laser radar 106 can be measured Point cloud data 108 is mapped to coordinate system identical with reference point clouds.

At frame 306, the matching that equipment 110 determines test point cloud data 108 and reference point clouds data through mapping is calculated Degree.Equipment 110 is calculated to obtain after the test point cloud data 108 of mapping processing, it can be by the test point cloud data 108 of mapping It is compared with predetermined reference point clouds data.

In some embodiments, calculate equipment 110 from through mapping test point cloud data 108 and reference point clouds data in really Location parameter and the matched a part of data of attitude parameter.Calculate number and reference of the equipment 110 based on a part of data The total number of data, determines matching degree in point cloud data.When carrying out point cloud data matching, can using ICP/GICP or NDT method.

In some embodiments, the matching degree of point cloud data is the number and reference point by matched a part of data The ratio of the total number of cloud data determines matching degree.

At frame 308, calculates equipment 110 and determine whether matching degree is higher than threshold level.In some embodiments, threshold value Degree can be 95%.When whether the number of data matched in point cloud data more than 95% determines whether cloud matches.On It states example and is only for the description disclosure, rather than the specific restriction to the disclosure, those skilled in the art can be set based on needs Set the size of threshold level.

If matching degree is higher than threshold level, at frame 310, calculates equipment 110 and determine position candidate attitude data For the position and attitude data of second laser radar 106, that is, determine that the position and attitude data of second laser radar 106 are candidate position Set attitude data.The calibration of second laser radar 106 is completed at this time.

If matcher is not higher than threshold level, at frame 312, electronic equipment 110 updates position candidate attitude data. When being updated to candidate position and attitude data, location parameter and attitude parameter can be adjusted separately.For example, in adjustment position When setting parameter, each parameter in location parameter is increased into scheduled amount, such as 1cm.It, can be by posture when adjusting attitude parameter Each parameter in parameter increases by 1 degree.Location parameter and attitude parameter can also be adjusted simultaneously.For location parameter and attitude parameter Adjustment can be based on needing to be adjusted in any suitable manner.It, will be each in location parameter when adjusting location parameter Parameter increases scheduled amount, such as 1cm, while adjusting attitude parameter, each parameter in attitude parameter can be increased by 1 degree.On It states example and is only for the description disclosure, rather than the specific restriction to the disclosure.Those skilled in the art can be set based on needs The adjustment amount of seated position parameter and attitude parameter.

By the above method, it can quickly determine that second swashs by adjusting the candidate attitude data of second laser radar Position and attitude data of the optical radar relative to bodywork reference frame, accelerate the process of Data Matching, improve matching efficiency, so that It can faster Calibration of Laser radar.

Fig. 4 shows the schematic block diagram of the device 400 for data assessment according to the embodiment of the present disclosure.Such as Fig. 4 institute Show, device 400 may include the first reference point clouds data determining module 402, be configured as being based on being swept by first laser radar The scanning point cloud data retouching predetermined space and obtaining, determines associated with predetermined space reference point clouds data, in predetermined space It is disposed with the sending device for sending simulator locating signal and determines that the error of position error determines based on simulator locating signal Equipment.Device 400 can also include vehicle location attitude data determining module 404, be configured as based on position error, by vehicle The Inertial Measurement Unit data of the simulator locating signal and vehicle that receive in predetermined space determine the position for being directed to vehicle Set attitude data.Device 400 can also include the first radar site attitude data determining module 406, be configured as based on ginseng Point cloud data, the position and attitude data of vehicle and the test point cloud data by the second laser radar acquisition on vehicle are examined, is determined The position and attitude data of second laser radar.

In some embodiments, the first reference point clouds data determining module 402 includes that coordinate information obtains module, is configured For the coordinate information for obtaining the reference point in predetermined space；Second radar site attitude data determining module, is configured as being based on Partial scan point cloud data related with reference point and coordinate information in point cloud data are scanned, determines the position of first laser radar Attitude data；And the second reference point clouds data determining module, it is configured as based on position and attitude data and scans point cloud data, Determine reference point clouds data.

In some embodiments, the first radar site attitude data determining module 406 includes that position candidate attitude data is true Cover half block is configured to determine that position candidate attitude data of the second laser radar relative to vehicle；Mapping block is configured as Test point cloud data is mapped to and reference point clouds data by the position and attitude data based on position candidate attitude data and vehicle Identical coordinate system；First matching degree determining module is configured to determine that test point cloud data and reference point clouds through mapping The matching degree of data；And position and attitude data determining module, it is configured to respond to matching degree and is higher than threshold level, it will Position candidate attitude data is determined as the position and attitude data of second laser radar.

In some embodiments, the first radar site attitude data determining module 406 further includes

Update module is configured to respond to matching degree lower than threshold level, updates position candidate attitude data.

In some embodiments, position candidate attitude data includes at least one scheduled location parameter and at least one is pre- Fixed attitude parameter.

In some embodiments, the first matching degree determining module includes matched data determining module, is configured as from warp Determine that location parameter and attitude parameter are one matched in the test point cloud data of mapping and the reference point clouds data Divided data；Second matching degree determining module is configured as number and the reference point clouds number based on a part of data According to the total number of middle data, the matching degree is determined.

Fig. 5 shows the schematic block diagram that can be used to implement the electronic equipment 500 of embodiment of the disclosure.Equipment 500 It can be used to implement the calculating equipment 110 in Fig. 1.As shown, equipment 500 includes computing unit 501, it can be according to storage Computer program instructions in read-only memory (ROM) 502 are loaded into random access storage device from storage unit 508 (RAM) computer program instructions in 503, to execute various movements appropriate and processing.In RAM 503, it can also store and set Various programs and data needed for standby 500 operation.Computing unit 501, ROM 502 and RAM 503 pass through the phase each other of bus 504 Even.Input/output (I/O) interface 505 is also connected to bus 504.

Multiple components in equipment 500 are connected to I/O interface 505, comprising: input unit 506, such as keyboard, mouse etc.； Output unit 507, such as various types of displays, loudspeaker etc.；Storage unit 508, such as disk, CD etc.；And it is logical Believe unit 509, such as network interface card, modem, wireless communication transceiver etc..Communication unit 509 allows equipment 500 by such as The computer network of internet and/or various telecommunication networks exchange information/data with other equipment.

Computing unit 501 can be the various general and/or dedicated processes components with processing and computing capability.It calculates single Some examples of member 501 include but is not limited to central processing unit (CPU), graphics processing unit (GPU), various dedicated artificial Intelligence (AI) computing chip, the various operation computing units of machine learning model algorithm, digital signal processor (DSP) and Any processor appropriate, controller, microcontroller etc..Computing unit 501 executes each method as described above and processing, Such as method 200 and 300.For example, in some embodiments, method 200 and 300 can be implemented as computer software programs, It is tangibly embodied in machine readable media, such as storage unit 508.In some embodiments, the part of computer program or Person all can be loaded into and/or be installed in equipment 500 via ROM 502 and/or communication unit 509.When computer journey When sequence is loaded into RAM 503 and is executed by computing unit 501, one or more of method as described above 200 and 300 can be executed A step.Alternatively, in other embodiments, computing unit 501 can by other any modes appropriate (for example, by In firmware) and it is configured as execution method 500.

Function described herein can be executed at least partly by one or more hardware logic components.Example Such as, without limitation, the hardware logic component for the exemplary type that can be used includes: field programmable gate array (FPGA), dedicated Integrated circuit (ASIC), Application Specific Standard Product (ASSP), the system (SOC) of system on chip, load programmable logic device (CPLD) etc..

For implement disclosed method program code can using any combination of one or more programming languages come It writes.These program codes can be supplied to the place of general purpose computer, special purpose computer or other programmable data processing units Device or controller are managed, so that program code makes defined in flowchart and or block diagram when by processor or controller execution Function/operation is carried out.Program code can be executed completely on machine, partly be executed on machine, as stand alone software Is executed on machine and partly execute or executed on remote machine or server completely on the remote machine to packet portion.

In the context of the disclosure, machine readable media can be tangible medium, may include or is stored for The program that instruction execution system, device or equipment are used or is used in combination with instruction execution system, device or equipment.Machine can Reading medium can be machine-readable signal medium or machine-readable storage medium.Machine readable media can include but is not limited to electricity Son, magnetic, optical, electromagnetism, infrared or semiconductor system, device or equipment or above content any conjunction Suitable combination.The more specific example of machine readable storage medium will include the electrical connection of line based on one or more, portable meter Calculation machine disk, hard disk, random access memory (RAM), read-only memory (ROM), Erasable Programmable Read Only Memory EPROM (EPROM Or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage facilities or Any appropriate combination of above content.

Although this should be understood as requiring operating in this way with shown in addition, depicting each operation using certain order Certain order out executes in sequential order, or requires the operation of all diagrams that should be performed to obtain desired result. Under certain environment, multitask and parallel processing be may be advantageous.Similarly, although containing several tools in being discussed above Body realizes details, but these are not construed as the limitation to the scope of the present disclosure.In the context of individual embodiment Described in certain features can also realize in combination in single realize.On the contrary, in the described in the text up and down individually realized Various features can also realize individually or in any suitable subcombination in multiple realizations.

Although having used specific to this theme of the language description of structure feature and/or method logical action, answer When understanding that theme defined in the appended claims is not necessarily limited to special characteristic described above or movement.On on the contrary, Special characteristic described in face and movement are only to realize the exemplary forms of claims.