Calibration of a 2D Scanning Radar and a 3D Lidar

Jan Rotter, Bernardo Wagner

2022

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.

Paper Citation

in Harvard Style

Rotter J. and Wagner B. (2022). Calibration of a 2D Scanning Radar and a 3D Lidar. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 377-384. DOI: 10.5220/0011140900003271

in Bibtex Style

@conference{icinco22,
author={Jan Rotter and Bernardo Wagner},
title={Calibration of a 2D Scanning Radar and a 3D Lidar},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2022},
pages={377-384},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011140900003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Calibration of a 2D Scanning Radar and a 3D Lidar
SN - 978-989-758-585-2
AU - Rotter J.
AU - Wagner B.
PY - 2022
SP - 377
EP - 384
DO - 10.5220/0011140900003271