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多lidar同时捕获同一场景,能否增加点云密度?

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Author: ideafold | Time: 2022-3-31 11:00:48 | Autonomous driving|
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Posted on 2022-3-31 11:00:48| All floors |Read mode

业务背景:希望收集车辆前方的图像、激光雷达测量数据,用于标注、构建样本。

介于在车速较快的时候(例如100公里/小时),livox激光雷达在较短时间内收集的点数较少。
在想,能否使用3个激光雷达+一个hub 来增加点云的点密度?构思图如附件图片所示。

请问下,这个方法是否可行呢?有什么需要注意的吗?


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Posted on 2022-3-31 18:25:38| All floors
多台雷达可以增加FOV,在标定很好的情况下,多台雷达能增加被测物体的点云密度哈。
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 Author| Posted on 2022-3-31 23:01:12| All floors
Livox Support Posted at 2022-3-31 18:25
多台雷达可以增加FOV,在标定很好的情况下,多台雷达能增加被测物体的点云密度哈。 ...

像我上面这种布局,雷达之间会相互干扰吗?

恩。对标定的确要求比较高。
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Posted on 2022-4-1 10:40:56| All floors
不会相互干扰哈
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 Author| Posted on 2022-4-1 14:54:14| All floors
Livox Support Posted at 2022-3-31 18:25
多台雷达可以增加FOV,在标定很好的情况下,多台雷达能增加被测物体的点云密度哈。 ...

谢谢回复。
怎么标定得很好,这个有什么建议吗?

尤其是我现在有3个激光雷达(型号还不完全一样的)、一个相机。
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Posted on 2022-4-6 10:48:51| All floors
可以参考我们一下我们标定的开源算法:
https://github.com/Livox-SDK/livox_camera_lidar_calibration
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