Improving 2D Scanning Radar and 3D Lidar Calibration

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandBeitrag in Buch/SammelwerkForschungPeer-Review

Forschungs-netzwerk anzeigen

Details

OriginalspracheEnglisch
Titel des SammelwerksInformatics in Control, Automation and Robotics - 19th International Conference, ICINCO 2022, Revised Selected Papers
UntertitelInformatics in Control, Automation and Robotics ICINCO 2022
Herausgeber/-innenGiuseppina Gini, Henk Nijmeijer, Wolfram Burgard, Dimitar Filev
Seiten44–64
Seitenumfang21
ISBN (elektronisch)978-3-031-48303-5
PublikationsstatusVeröffentlicht - 2023

Publikationsreihe

NameLecture Notes in Networks and Systems
Band836 LNNS
ISSN (Print)2367-3370
ISSN (elektronisch)2367-3389

Abstract

Sensor fusion in mobile robots requires proper extrinsic and intrinsic sensor calibration. Robots in the search and rescue robotics domain are often equipped with multiple range sensor modalities such as radar and lidar due to the harsh environmental conditions. This article presents a method to easily calibrate a 2D scanning radar and a 3D lidar without the use of special calibration targets. Therefore, it focuses on the improvement of the feature extraction from the environment by applying filtering algorithms to remove noise and improve the signal-to-noise ratio. Additionally, a second optimization stage is introduced to propagate measurement uncertainties of the lidar to the calibration result. The results are compared to the previous version of the algorithm as well as to the ground truth parameters. Furthermore, statistical tests are performed to confirm the validity of the calibration results.

ASJC Scopus Sachgebiete

Zitieren

Improving 2D Scanning Radar and 3D Lidar Calibration. / Rotter, Jan M.; Stanke, Levin; Wagner, Bernardo.
Informatics in Control, Automation and Robotics - 19th International Conference, ICINCO 2022, Revised Selected Papers: Informatics in Control, Automation and Robotics ICINCO 2022. Hrsg. / Giuseppina Gini; Henk Nijmeijer; Wolfram Burgard; Dimitar Filev. 2023. S. 44–64 (Lecture Notes in Networks and Systems; Band 836 LNNS).

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandBeitrag in Buch/SammelwerkForschungPeer-Review

Rotter, JM, Stanke, L & Wagner, B 2023, Improving 2D Scanning Radar and 3D Lidar Calibration. in G Gini, H Nijmeijer, W Burgard & D Filev (Hrsg.), Informatics in Control, Automation and Robotics - 19th International Conference, ICINCO 2022, Revised Selected Papers: Informatics in Control, Automation and Robotics ICINCO 2022. Lecture Notes in Networks and Systems, Bd. 836 LNNS, S. 44–64. https://doi.org/10.1007/978-3-031-48303-5_3
Rotter, J. M., Stanke, L., & Wagner, B. (2023). Improving 2D Scanning Radar and 3D Lidar Calibration. In G. Gini, H. Nijmeijer, W. Burgard, & D. Filev (Hrsg.), Informatics in Control, Automation and Robotics - 19th International Conference, ICINCO 2022, Revised Selected Papers: Informatics in Control, Automation and Robotics ICINCO 2022 (S. 44–64). (Lecture Notes in Networks and Systems; Band 836 LNNS). https://doi.org/10.1007/978-3-031-48303-5_3
Rotter JM, Stanke L, Wagner B. Improving 2D Scanning Radar and 3D Lidar Calibration. in Gini G, Nijmeijer H, Burgard W, Filev D, Hrsg., Informatics in Control, Automation and Robotics - 19th International Conference, ICINCO 2022, Revised Selected Papers: Informatics in Control, Automation and Robotics ICINCO 2022. 2023. S. 44–64. (Lecture Notes in Networks and Systems). Epub 2023 Nov 30. doi: 10.1007/978-3-031-48303-5_3
Rotter, Jan M. ; Stanke, Levin ; Wagner, Bernardo. / Improving 2D Scanning Radar and 3D Lidar Calibration. Informatics in Control, Automation and Robotics - 19th International Conference, ICINCO 2022, Revised Selected Papers: Informatics in Control, Automation and Robotics ICINCO 2022. Hrsg. / Giuseppina Gini ; Henk Nijmeijer ; Wolfram Burgard ; Dimitar Filev. 2023. S. 44–64 (Lecture Notes in Networks and Systems).
Download
@inbook{9e32004ffc6941cf8c9e474d176ffcf9,
title = "Improving 2D Scanning Radar and 3D Lidar Calibration",
abstract = "Sensor fusion in mobile robots requires proper extrinsic and intrinsic sensor calibration. Robots in the search and rescue robotics domain are often equipped with multiple range sensor modalities such as radar and lidar due to the harsh environmental conditions. This article presents a method to easily calibrate a 2D scanning radar and a 3D lidar without the use of special calibration targets. Therefore, it focuses on the improvement of the feature extraction from the environment by applying filtering algorithms to remove noise and improve the signal-to-noise ratio. Additionally, a second optimization stage is introduced to propagate measurement uncertainties of the lidar to the calibration result. The results are compared to the previous version of the algorithm as well as to the ground truth parameters. Furthermore, statistical tests are performed to confirm the validity of the calibration results.",
keywords = "2D scanning radar, 3D lidar, Mobile robotics, Search and rescue robotics, Target-less calibration",
author = "Rotter, {Jan M.} and Levin Stanke and Bernardo Wagner",
note = "This work has partly been funded by the German Federal Ministry of Education and Research (BMBF) under the project number 13N15550 (UAV-Rescue).",
year = "2023",
doi = "10.1007/978-3-031-48303-5_3",
language = "English",
isbn = "978-3-031-48302-8",
series = "Lecture Notes in Networks and Systems",
pages = "44–64",
editor = "Giuseppina Gini and Henk Nijmeijer and Wolfram Burgard and Dimitar Filev",
booktitle = "Informatics in Control, Automation and Robotics - 19th International Conference, ICINCO 2022, Revised Selected Papers",

}

Download

TY - CHAP

T1 - Improving 2D Scanning Radar and 3D Lidar Calibration

AU - Rotter, Jan M.

AU - Stanke, Levin

AU - Wagner, Bernardo

N1 - This work has partly been funded by the German Federal Ministry of Education and Research (BMBF) under the project number 13N15550 (UAV-Rescue).

PY - 2023

Y1 - 2023

N2 - Sensor fusion in mobile robots requires proper extrinsic and intrinsic sensor calibration. Robots in the search and rescue robotics domain are often equipped with multiple range sensor modalities such as radar and lidar due to the harsh environmental conditions. This article presents a method to easily calibrate a 2D scanning radar and a 3D lidar without the use of special calibration targets. Therefore, it focuses on the improvement of the feature extraction from the environment by applying filtering algorithms to remove noise and improve the signal-to-noise ratio. Additionally, a second optimization stage is introduced to propagate measurement uncertainties of the lidar to the calibration result. The results are compared to the previous version of the algorithm as well as to the ground truth parameters. Furthermore, statistical tests are performed to confirm the validity of the calibration results.

AB - Sensor fusion in mobile robots requires proper extrinsic and intrinsic sensor calibration. Robots in the search and rescue robotics domain are often equipped with multiple range sensor modalities such as radar and lidar due to the harsh environmental conditions. This article presents a method to easily calibrate a 2D scanning radar and a 3D lidar without the use of special calibration targets. Therefore, it focuses on the improvement of the feature extraction from the environment by applying filtering algorithms to remove noise and improve the signal-to-noise ratio. Additionally, a second optimization stage is introduced to propagate measurement uncertainties of the lidar to the calibration result. The results are compared to the previous version of the algorithm as well as to the ground truth parameters. Furthermore, statistical tests are performed to confirm the validity of the calibration results.

KW - 2D scanning radar

KW - 3D lidar

KW - Mobile robotics

KW - Search and rescue robotics

KW - Target-less calibration

UR - http://www.scopus.com/inward/record.url?scp=85180149014&partnerID=8YFLogxK

U2 - 10.1007/978-3-031-48303-5_3

DO - 10.1007/978-3-031-48303-5_3

M3 - Contribution to book/anthology

SN - 978-3-031-48302-8

T3 - Lecture Notes in Networks and Systems

SP - 44

EP - 64

BT - Informatics in Control, Automation and Robotics - 19th International Conference, ICINCO 2022, Revised Selected Papers

A2 - Gini, Giuseppina

A2 - Nijmeijer, Henk

A2 - Burgard, Wolfram

A2 - Filev, Dimitar

ER -

Von denselben Autoren