Design And Implementation Of Adaptive Space-time Synchronization System Based On Camera And Lidar

In recent years,natural disasters have been occurring frequently,making it one of the most important tasks in emergency rescue missions to accurately obtain location information and surrounding scene information in disaster scenarios.Traditional positioning in disaster scenarios often faces complex situations such as weak satellite signals,interrupted network signals,and sensor failure,which cannot complete corresponding work.Therefore,the Simultaneous Localization and Mapping(SLAM)system based on multi-sensors has received extensive attention from researchers.During the data collection process,different sensors maintain different spatial coordinate systems and transmission media,which result in errors in space and time.In order to obtain more accurate positioning results,this paper has completed an adaptive spatiotemporal synchronization system based on cameras and lidars.This article first elaborates on the research background and significance of camera and lidar synchronization in the field of emergency rescue,and surveys and learns from existing camera and lidar spatiotemporal synchronization methods.Based on this,an external hardware-based time synchronization system is designed,and the camera and lidar of the system synchronize the time by receiving the same second pulse signal externally.Secondly,this article proposes an online spatial synchronization improvement algorithm based on line features.The algorithm improves the point cloud density through point cloud registration algorithm,and then directly extracts line features on the original point cloud using plane fitting to avoid errors caused by point cloud projection.Finally,the camera and rotating lidar extrinsic parameters are obtained by constructing and solving the least squares problem through the KD-tree matching of the extracted line features,realizing the adaptive spatial synchronization between the two.Based on the improved algorithm,according to the idea of software engineering and the actual application scenarios,this article conducts requirement analysis,summary design,and detailed design for the camera and lidar spatiotemporal synchronization system,and implements and tests the system according to the analysis and design results.This article completes the construction and testing work of the camera and lidar adaptive spatiotemporal synchronization system.After extensive experimentation,it is proved that the spatial synchronization method of the camera and lidar in this article has improved accuracy compared to the traditional method under adaptive synchronization,verifying the effectiveness of this article’s method.