激光雷达的内参建模与点云修正方法

Intrinsic Parameters Modeling for LiDAR and Point Cloud Correction Method

本文中建立了一种针对机械式激光雷达参数较少的内参模型;考虑到偏心结构对于点云的影响,提出了角度修正和距离修正两种点云修正方法,对两种方法的修正效果进行仿真,并通过实际点云加以验证。最后还用位姿估计算法验证修正算法的有效性。

In this paper,an intrinsic parameter model with less parameters and dedicated to mechanical Li⁃DAR is established,and in view of the effects of eccentric structure on point cloud,two point⁃cloud correction meth⁃ods(angle and distance corrections)are proposed.A simulation is conducted on the effects of two correction meth⁃ods,with its results verified by real point cloud.Finally,a pose estimation algorithm is also used to validate the ef⁃fectiveness of the correction methods proposed.