Calibration method of three-dimensional plane array laser radar based on space-time transformation

Shuo Zhang; Shuo Zhang; Lipeng Sun; Yongran Chen; Yong Bi

doi:10.1364/AO.400265

Applied Optics
Vol. 59,
Issue 28,
pp. 8595-8602
(2020)
•https://doi.org/10.1364/AO.400265

Calibration method of three-dimensional plane array laser radar based on space-time transformation

Shuo Zhang, Lipeng Sun, Yongran Chen, and Yong Bi

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Shuo Zhang, Lipeng Sun, Yongran Chen, and Yong Bi, "Calibration method of three-dimensional plane array laser radar based on space-time transformation," Appl. Opt. 59, 8595-8602 (2020)

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Abstract

As a measurement system that can realize target detection and optical imaging, the accuracy of three-dimensional laser radar is a main performance index, which makes calibration an extremely important work. Traditional calibration methods have many disadvantages, such as harsh environment requirements, complex and tedious calibration processes, and inaccurate calibration results. To solve these problems, we propose a calibration method so that the relative position of the cooperative target and the detection sensor is fixed. The principle of space-time transform is used to simulate distance, and the synchronous control of distance is realized by controlling the delay module. In addition, a simple and practical calibration device is designed. In the actual measurement, the average absolute error is 0.0019 m, and the relative error is 0.0678% in the range of 0.5–25 m. The experimental results show that this method is stable and accurate, and it can calibrate the plane array laser radar quickly and accurately.

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Set Distance (true value) (m)	Measured Value (m)					Average Value	Absolute Error(m)	Relative error(%)
0.501	0.502	0.502	0.507	0.497	0.501	0.5023	0.0013	0.2595
	0.501	0.502	0.511	0.498	0.502
1.001	1.002	1.004	1.002	1.002	1.007	1.0022	0.0012	0.1199
	1.000	1.001	1.002	0.998	1.004
1.497	1.499	1.499	1.502	1.499	1.501	1.4999	0.0029	0.1937
	1.498	1.502	1.499	1.501	1.499
2.013	2.015	2.015	2.010	2.011	2.015	2.0139	0.0009	0.0447
	2.015	2.015	2.010	2.015	2.018
2.510	2.500	2.511	2.515	2.502	2.515	2.5115	0.0015	0.0598
	2.515	2.515	2.511	2.511	2.520
3.002	3.004	3.016	3.005	3.001	3.005	3.0046	0.0026	0.0866
	3.000	3.014	3.000	3.000	3.001
4.017	4.019	4.016	4.017	4.017	4.014	4.0147	0.0023	0.0573
	4.010	4.024	4.009	4.004	4.017
5.003	5.005	5.011	5.000	5.003	5.003	5.0047	0.0017	0.0340
	5.002	5.000	5.003	5.013	5.007
6.251	6.250	6.255	6.248	6.252	6.250	6.2524	0.0014	0.0224
	6.251	6.255	6.251	6.260	6.252
10.012	10.009	10.010	10.012	10.013	10.011	10.0101	0.0019	0.0190
	10.007	10.015	10.003	10.012	10.009
12.500	12.507	12.510	12.501	12.498	12.500	12.5028	0.0028	0.0224
	12.501	12.503	12.504	12.504	12.500
15.015	15.011	15.011	15.017	15.011	15.018	15.0131	0.0019	0.0127
	15.009	15.015	15.012	15.015	15.012
20.023	20.023	20.026	20.025	20.019	20.022	20.0248	0.0018	0.0090
	20.028	20.021	20.029	20.030	20.025
25.011	25.018	25.020	25.011	25.017	25.018	25.0132	0.0022	0.0088
	25.005	25.011	25.004	25.010	25.018

Modulation Frequency	Average Measurement Distance (mm)	Maximum (mm)	Minimum (mm)	Standard Deviation
24 MHz	3990.12	3996	3984	2.8673
12 MHz	3990.68	3999	3982	4.5123
6 MHz	3989.68	4003	3965	9.8216

Set Distance (true value) (m)	Measured Value (m)					Average Value	Absolute Error(m)	Relative error(%)
0.501	0.502	0.502	0.507	0.497	0.501	0.5023	0.0013	0.2595
	0.501	0.502	0.511	0.498	0.502
1.001	1.002	1.004	1.002	1.002	1.007	1.0022	0.0012	0.1199
	1.000	1.001	1.002	0.998	1.004
1.497	1.499	1.499	1.502	1.499	1.501	1.4999	0.0029	0.1937
	1.498	1.502	1.499	1.501	1.499
2.013	2.015	2.015	2.010	2.011	2.015	2.0139	0.0009	0.0447
	2.015	2.015	2.010	2.015	2.018
2.510	2.500	2.511	2.515	2.502	2.515	2.5115	0.0015	0.0598
	2.515	2.515	2.511	2.511	2.520
3.002	3.004	3.016	3.005	3.001	3.005	3.0046	0.0026	0.0866
	3.000	3.014	3.000	3.000	3.001
4.017	4.019	4.016	4.017	4.017	4.014	4.0147	0.0023	0.0573
	4.010	4.024	4.009	4.004	4.017
5.003	5.005	5.011	5.000	5.003	5.003	5.0047	0.0017	0.0340
	5.002	5.000	5.003	5.013	5.007
6.251	6.250	6.255	6.248	6.252	6.250	6.2524	0.0014	0.0224
	6.251	6.255	6.251	6.260	6.252
10.012	10.009	10.010	10.012	10.013	10.011	10.0101	0.0019	0.0190
	10.007	10.015	10.003	10.012	10.009
12.500	12.507	12.510	12.501	12.498	12.500	12.5028	0.0028	0.0224
	12.501	12.503	12.504	12.504	12.500
15.015	15.011	15.011	15.017	15.011	15.018	15.0131	0.0019	0.0127
	15.009	15.015	15.012	15.015	15.012
20.023	20.023	20.026	20.025	20.019	20.022	20.0248	0.0018	0.0090
	20.028	20.021	20.029	20.030	20.025
25.011	25.018	25.020	25.011	25.017	25.018	25.0132	0.0022	0.0088
	25.005	25.011	25.004	25.010	25.018

Modulation Frequency	Average Measurement Distance (mm)	Maximum (mm)	Minimum (mm)	Standard Deviation
24 MHz	3990.12	3996	3984	2.8673
12 MHz	3990.68	3999	3982	4.5123
6 MHz	3989.68	4003	3965	9.8216

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Applied Optics