Related papers: Automated Automotive Radar Calibration With Intelligent Vehicles

Automated Automotive Radar Calibration With Intelligent Vehicles

URL: http://arxiv.org/abs/2306.13323v1
Date: Fri, 23 Jun 2023 07:01:10 GMT
Title: Automated Automotive Radar Calibration With Intelligent Vehicles
Authors: Alexander Tsaregorodtsev, Michael Buchholz, Vasileios Belagiannis
Abstract summary: We present an approach for automated and geo-referenced calibration of automotive radar sensors. Our method does not require external modifications of a vehicle and instead uses the location data obtained from automated vehicles. Our evaluation on data from a real testing site shows that our method can correctly calibrate infrastructure sensors in an automated manner.
Score: 73.15674960230625
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Abstract: While automotive radar sensors are widely adopted and have been used for automatic cruise control and collision avoidance tasks, their application outside of vehicles is still limited. As they have the ability to resolve multiple targets in 3D space, radars can also be used for improving environment perception. This application, however, requires a precise calibration, which is usually a time-consuming and labor-intensive task. We, therefore, present an approach for automated and geo-referenced extrinsic calibration of automotive radar sensors that is based on a novel hypothesis filtering scheme. Our method does not require external modifications of a vehicle and instead uses the location data obtained from automated vehicles. This location data is then combined with filtered sensor data to create calibration hypotheses. Subsequent filtering and optimization recovers the correct calibration. Our evaluation on data from a real testing site shows that our method can correctly calibrate infrastructure sensors in an automated manner, thus enabling cooperative driving scenarios.

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