Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO |
| Editors | Giuseppina Gini, Henk Nijmeijer, Wolfram Burgard, Dimitar P. Filev |
| Pages | 377-384 |
| Number of pages | 8 |
| Publication status | Published - 2022 |
Publication series
| Name | Proceedings of the International Conference on Informatics in Control, Automation and Robotics |
|---|---|
| Volume | 1 |
| ISSN (Print) | 2184-2809 |
Abstract
In search and rescue applications, mobile robots have to be equipped with robust sensors that provide data under rough environmental conditions. One such sensor technology is radar which is robust against low-visibility conditions. As a single sensor modality, radar data is hard to interpret which is why other modalities such as lidar or cameras are used to get a more detailed representation of the environment. A key to successful sensor fusion is an extrinsically and intrinsically calibrated sensor setup. In this paper, a target-less calibration method for scanning radar and lidar using geometric features in the environment is presented. It is shown that this method is well-suited for in-field use in a search and rescue application. The method is evaluated in a variety of use-case relevant test scenarios and it is demonstrated that the calibration results are accurate enough for the target application. To validate the results, the proposed method is compared to a target-based state-of-the-art calibration method showing equivalent performance without the need for specially designed targets.
Keywords
- Mobile Robotics, 2D Scanning Radar, 3D Lidar, Target-less Calibration, Search and Rescue Robotics
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Computer Science(all)
- Signal Processing
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Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO. ed. / Giuseppina Gini; Henk Nijmeijer; Wolfram Burgard; Dimitar P. Filev. 2022. p. 377-384 (Proceedings of the International Conference on Informatics in Control, Automation and Robotics; Vol. 1).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Calibration of a 2D Scanning Radar and a 3D Lidar
AU - Rotter, Jan Michel
AU - Wagner, Bernardo
N1 - Funding Information: This work has partly been funded by the German Federal Ministry of Education and Research (BMBF) under the project number 13N15550 (UAV-Rescue).
PY - 2022
Y1 - 2022
N2 - In search and rescue applications, mobile robots have to be equipped with robust sensors that provide data under rough environmental conditions. One such sensor technology is radar which is robust against low-visibility conditions. As a single sensor modality, radar data is hard to interpret which is why other modalities such as lidar or cameras are used to get a more detailed representation of the environment. A key to successful sensor fusion is an extrinsically and intrinsically calibrated sensor setup. In this paper, a target-less calibration method for scanning radar and lidar using geometric features in the environment is presented. It is shown that this method is well-suited for in-field use in a search and rescue application. The method is evaluated in a variety of use-case relevant test scenarios and it is demonstrated that the calibration results are accurate enough for the target application. To validate the results, the proposed method is compared to a target-based state-of-the-art calibration method showing equivalent performance without the need for specially designed targets.
AB - In search and rescue applications, mobile robots have to be equipped with robust sensors that provide data under rough environmental conditions. One such sensor technology is radar which is robust against low-visibility conditions. As a single sensor modality, radar data is hard to interpret which is why other modalities such as lidar or cameras are used to get a more detailed representation of the environment. A key to successful sensor fusion is an extrinsically and intrinsically calibrated sensor setup. In this paper, a target-less calibration method for scanning radar and lidar using geometric features in the environment is presented. It is shown that this method is well-suited for in-field use in a search and rescue application. The method is evaluated in a variety of use-case relevant test scenarios and it is demonstrated that the calibration results are accurate enough for the target application. To validate the results, the proposed method is compared to a target-based state-of-the-art calibration method showing equivalent performance without the need for specially designed targets.
KW - Mobile Robotics
KW - 2D Scanning Radar
KW - 3D Lidar
KW - Target-less Calibration
KW - Search and Rescue Robotics
UR - http://www.scopus.com/inward/record.url?scp=85145439728&partnerID=8YFLogxK
U2 - 10.5220/0011140900003271
DO - 10.5220/0011140900003271
M3 - Conference contribution
SN - 978-989-758-585-2
T3 - Proceedings of the International Conference on Informatics in Control, Automation and Robotics
SP - 377
EP - 384
BT - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO
A2 - Gini, Giuseppina
A2 - Nijmeijer, Henk
A2 - Burgard, Wolfram
A2 - Filev, Dimitar P.
ER -