Patent ID: 11988781

Abstract:
An extrinsic calibration method of multiple 3D LiDAR sensors for an autonomous navigation system is proposed, the method including collecting point clouds by each of the multiple 3D LiDAR sensors; extracting multiple target planes corresponding to a plane from the point clouds of each of the 3D LiDAR sensors; by using the target plane of any one of the multiple 3D LiDAR sensors as a reference plane, detecting a corresponding plane from the target planes of each of the remaining of the 3D LiDAR sensors on the basis of a similarity with the reference plane; calculating initial extrinsic parameters for matching between the reference plane and the corresponding plane based on plane parameters of the reference plane and corresponding plane corresponding to each other; and calculating final extrinsic parameters that minimize variance of measurement points for the reference plane and corresponding plane, on the basis of the initial extrinsic parameters.