Study on the technology of mutual alignment based on the four-quadrant photo electric detector

Panoramic stereo cameras and laser radars have their own coordinate system in the dynamic spatial sensing area and they have to determine the position relationship between each other through joint calibration. As using the traditional technology of mutual alignment based on the telescope cross wire is tedious and requires high operating skills, a new method of mutual alignment using lasers and four-quadrant photo electric detectors is provided after analyzing the working principle of four-quadrant photo electric detectors. Firstly make the laser beam irradiate the active area of the four-quadrant photo electric detector through coarse aiming. Then the center of a light spot offset relative to the center of the active area can be obtained according to the output voltage of four quadrants. The pose of two instruments can be adjusted properly to realize mutual alignment. The experimental results indicate that the alignment accuracy of four-quadrant detectors can meet the requirements of mutual alignment, which provides a new idea for joint calibration.