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Pregled bibliografske jedinice broj: 884267

Extrinsic 6DoF Calibration of 3D LiDAR and Radar


Peršić, Juraj; Marković, Ivan; Petrović, Ivan
Extrinsic 6DoF Calibration of 3D LiDAR and Radar // The European Conference on Mobile Robotics (ECMR2017)
Pariz, Francuska, 2017. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


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Naslov
Extrinsic 6DoF Calibration of 3D LiDAR and Radar

Autori
Peršić, Juraj ; Marković, Ivan ; Petrović, Ivan

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

Izvornik
The European Conference on Mobile Robotics (ECMR2017) / - Pariz, Francuska, 2017

Skup
The European Conference on Mobile Robotics (ECMR2017)

Mjesto i datum
Pariz, Francuska, 6.-8.09.2017

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Sensor calibration ; automotive radar ; 3D LiDAR

Sažetak
Environment perception is a key component of any autonomous system and is often based on a heterogeneous set of sensors and fusion thereof, for which extrinsic sensor calibration plays fundamental role. In this paper, we tackle the problem of 3D LiDAR–radar calibration which is challenging due to low accuracy and sparse informativeness of the radar measurements. We propose a complementary calibration target design suitable for both sensors, thus enabling a simple, yet reliable calibration procedure. The calibration method is composed of correspondence registration and a two-step optimization. The first step, reprojection error based optimization, provides initial estimate of the calibration parameters, while the second step, field of view optimization, uses additional information from the radar cross-section measurements and the nominal field of view to refine the parameters. In the end, results of the experiments validated the proposed method and demonstrated how the two steps combined provide an improved estimate of extrinsic calibration parameters.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Juraj Peršić (autor)

Avatar Url Ivan Petrović (autor)

Avatar Url Ivan Marković (autor)


Citiraj ovu publikaciju

Peršić, Juraj; Marković, Ivan; Petrović, Ivan
Extrinsic 6DoF Calibration of 3D LiDAR and Radar // The European Conference on Mobile Robotics (ECMR2017)
Pariz, Francuska, 2017. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
Peršić, J., Marković, I. & Petrović, I. (2017) Extrinsic 6DoF Calibration of 3D LiDAR and Radar. U: The European Conference on Mobile Robotics (ECMR2017).
@article{article, year = {2017}, keywords = {Sensor calibration, automotive radar, 3D LiDAR}, title = {Extrinsic 6DoF Calibration of 3D LiDAR and Radar}, keyword = {Sensor calibration, automotive radar, 3D LiDAR}, publisherplace = {Pariz, Francuska} }
@article{article, year = {2017}, keywords = {Sensor calibration, automotive radar, 3D LiDAR}, title = {Extrinsic 6DoF Calibration of 3D LiDAR and Radar}, keyword = {Sensor calibration, automotive radar, 3D LiDAR}, publisherplace = {Pariz, Francuska} }




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