Naslov
A Continuous-Time Approach for 3D Radar-to-Camera Extrinsic Calibration

Autori
Wise, Emmett ; Persic, Juraj ; Grebe, Christopher ; Petrovic, Ivan ; Kelly, Jonathan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Skup
IEEE International Conference on Robotics and Automation (ICRA)

Mjesto i datum
Xi’an, Kina, 30.05.2021. - 05.06.2021

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Three-dimensional displays , Radar measurements , Radar , Transforms , Cameras , Calibration , Trajectory

Sažetak
Reliable operation in inclement weather is essential to the deployment of safe autonomous vehicles (AVs). Robustness and reliability can be achieved by fusing data from the standard AV sensor suite (i.e., lidars, cameras) with weather robust sensors, such as millimetre-wavelength radar. Critically, accurate sensor data fusion requires knowledge of the rigidbody transform between sensor pairs, which can be determined through the process of extrinsic calibration. A number of extrinsic calibration algorithms have been designed for 2D (planar) radar sensors—however, recently-developed, low-cost 3D millimetre-wavelength radars are set to displace their 2D counterparts in many applications. In this paper, we present a continuous-time 3D radar-to-camera extrinsic calibration algorithm that utilizes radar velocity measurements and, unlike the majority of existing techniques, does not require specialized radar retroreflectors to be present in the environment. We derive the observability properties of our formulation and demonstrate the efficacy of our algorithm through synthetic and real-world experiments.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo

POVEZANOST RADA