A Calibration Method of External Parameters of Multi-LiDAR in Shiplock Environment
HONG Tianchen
WANG Zhongmin
REN Mingwu
Abstract：This paper proposes a calibration method for extrinsic parameter calibration of multiple lidar sensors with non-over-lapping field-of-view(FOV)in the shiplock environment.First,this paper establishes a point cloud map of the shiplock environ-ment,introduces an additional lidar to record the data of the shiplock environment,and uses the FAST-LIO algorithm to build a map to obtain a point cloud map.The cloud map coordinate system is converted to the artificially specified absolute coordinate sys-tem of the shiplock.The RANSAC algorithm is used to extract the plane in the point cloud map and calculate the normal vector.The plane is matched to the corresponding plane in the absolute coordinate system of the shiplock,and the Kabsch algorithm is used to calculate the initial value,and the Ceres library is used for nonlinear optimization.Finally,the lidar installed on the shiplock is cali-brated to the point cloud map,and the NDT algorithm is used for matching and calibration,and the external parameters of each li-dar are calculated.
Keywords：multi-lidar calibrationSLAMRANSACNDT
Publication Date：2025-11-20
Online Publishing Date：2026-01-28(First online date of this platform, not the publication date of the document)
Pages：6( 3228-3233 )