http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-114518111-A
Outgoing Links
| Predicate | Object |
|---|---|
| assignee | http://rdf.ncbi.nlm.nih.gov/pubchem/patentassignee/MD5_4488fcbebcf8aeedabe4df2f01bdd46f |
| classificationCPCAdditional | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/Y02A90-10 |
| classificationCPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G01C21-20 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G01C21-188 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G01C21-1652 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G01S17-86 |
| classificationIPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G01S17-86 http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G01C21-20 http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G01C21-16 |
| filingDate | 2022-03-11^^<http://www.w3.org/2001/XMLSchema#date> |
| inventor | http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_2cebac4fb958f103c179b1325d364ddc |
| publicationDate | 2022-05-20^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber | CN-114518111-A |
| titleOfInvention | A laser radar and inertial measurement unit calibration method and system |
| abstract | The present application provides a method and system for calibrating a lidar and an inertial measurement unit. The calibration method includes: acquiring point cloud data collected by the lidar between the first moment and the Nth moment and the inertial measurement unit between the first moment and the Nth moment. The inertial measurement data collected between the Nth moment, the inertial measurement data includes the first angular velocity and the first acceleration; the point cloud data is converted into the second angular velocity, the second angular acceleration and the second acceleration; based on the angular velocity error The function, the acceleration error function, the second angular velocity, the second angular acceleration and the second acceleration, and the first angular velocity and the first acceleration determine a calibration value. The technical solution of the present application deduces the measurement data of the inertial measurement unit through the point cloud data measured by the lidar, and then uses the deduced measurement data and the actual measurement data to calculate the deviation, thereby obtaining the calibration value, which can more accurately compare the lidar and inertial measurement data. The relative pose of the unit is calibrated. |
| priorityDate | 2022-03-11^^<http://www.w3.org/2001/XMLSchema#date> |
| type | http://data.epo.org/linked-data/def/patent/Publication |
Incoming Links
| Predicate | Subject |
|---|---|
| isDiscussedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/compound/CID31307 http://rdf.ncbi.nlm.nih.gov/pubchem/substance/SID419505112 |
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