基于坐标转换的多路侧激光雷达数据配准方法

doi:10.6040/j.issn.1672-3961.0.2022.108

山东大学学报 (工学版) ›› 2022, Vol. 52 ›› Issue (6): 41-49.doi: 10.6040/j.issn.1672-3961.0.2022.108

• 交通工程——智慧交通专题 • 上一篇

基于坐标转换的多路侧激光雷达数据配准方法

周勇¹,吕琛^2,3,侯福金¹,郭鑫铭^2,3*,宋修广²

1.山东高速建设管理集团有限公司, 山东济南 250014;2.山东大学齐鲁交通学院, 山东济南 250002;3.山东大学苏州研究院, 江苏苏州 215123

发布日期:2022-12-23
作者简介:周勇(1962— ),男,山东胶南人,研究员,博士,主要研究方向为多源数据融合. E-mail: 498589891@qq.com. *通信作者简介:郭鑫铭(1998— ),女,山东青岛人,硕士研究生,主要研究方向为多激光雷达数据融合. E-mail: 202115385@mail.sdu.edu.cn
基金资助:
国家自然科学基金青年科学基金项目(52002224);江苏省自然科学基金项目(BK20200226);苏州市重点产业技术创新项目(SYG202033);山东省重点研发计划资助项目(2020CXGC010118)

Data fusion method of multi roadside LiDAR based on coordinate transformation

ZHOU Yong¹, LÜ Chen^2,3, HOU Fujin¹, GUO Xinming^2,3*, SONG Xiuguang²

1. Shandong Hi-Speed Construction Management Group Co. Ltd., Jinan 250014, Shandong, China;
2. School of Qilu Transportation, Shandong University, Jinan 250002, Shandong, China;
3. Suzhou Research Institute, Shandong University, Suzhou 215123, Jiangsu, China

Published:2022-12-23

摘要/Abstract

摘要： 为准确、高效地获取多个激光雷达配准结果,提出一种基于坐标转换的多激光雷达配准算法。将全球定位系统(global positioning system, GPS)数据转换到地心空间直角坐标系下表示,求解基于空间直角坐标系的激光雷达数据与地心空间直角坐标系数据间的映射关系,根据总体最小二乘法原理进行转换矩关系的优化,基于转换关系,将多个激光雷达数据配准到大地坐标系下,实现多个激光雷达数据在大地坐标下的融合。试验对比4种不同型号、不同线束的激光雷达数据转换效果,结果表明各型号激光雷达经配准后均可以GPS数据形式呈现,通过转换数据与测量数据相比,精度可达到5 cm。本算法可较准确快速地获取多激光雷达配准结果,将多个激光雷达数据统一配准到大地坐标系下,配准后的数据在定位、安全评估等领域具有较高的使用价值。

关键词: 数据配准, 路侧激光雷达, GPS, 坐标转换, 总体最小二乘法

中图分类号:

TN958.98

周勇,吕琛,侯福金,郭鑫铭,宋修广. 基于坐标转换的多路侧激光雷达数据配准方法[J]. 山东大学学报 (工学版), 2022, 52(6): 41-49.

ZHOU Yong, LÜ Chen, HOU Fujin, GUO Xinming, SONG Xiuguang. Data fusion method of multi roadside LiDAR based on coordinate transformation[J]. Journal of Shandong University(Engineering Science), 2022, 52(6): 41-49.

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基于坐标转换的多路侧激光雷达数据配准方法

Data fusion method of multi roadside LiDAR based on coordinate transformation

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