公开(公告)号：EP4462157A1

公开(公告)日：2024-11-13

申请号：EP22902728.9

申请日：2022-05-17

申请人： Hesai Technology Co., Ltd.

发明人： XIAO, Pengchuan ,  SHAO, Zhenlei ,  LV, Chengsheng ,  LIAO, Ren ,  CHAI, Xiaolin ,  XIANG, Shaoqing

IPC分类号： G01S7/497

摘要： A calibration method, a calibration device (M10), a calibration system, and a readable storage medium, the calibration method comprises: receiving a point cloud determined by a LiDAR (LS1) from a field of view, the point cloud being in a LiDAR coordinate system (S11); receiving a set of survey points determined from the field of view by a survey device (CH1), the set of survey points being in a survey coordinate system (S12); based on the point cloud and the set of survey points, determining a first transformation parameter between the LiDAR coordinate system and the survey coordinate system (S13); based on the first transformation parameter and the position and orientation information of the vehicle (CA1) in the survey coordinate system (S14), determining a calibration parameter (S14) between the LiDAR coordinate system and the vehicle coordinate system of the vehicle (CA1). Both the calibration efficiency and the calibration precision can be improved, and batch calibration is facilitated.