3Dレーダーとカメラの連続時間外部キャリブレーション手法
A Continuous-Time Approach for 3D Radar-to-Camera Extrinsic Calibration
レーダーの速度計測を用い、専用反射板を必要とせずに3Dミリ波レーダーとカメラ間の外部キャリブレーションを行う連続時間アルゴリズムを提案し、可観測性の解析と実環境実験で有効性を示した。
著者: Emmett Wise, Juraj Peršić, Christopher Grebe, Ivan Petrović, Jonathan Kelly
分類: cs.RO
原文アブストラクト
Reliable operation in inclement weather is essential to the deployment of safe autonomous vehicles (AVs). Robustness and reliability can be achieved by fusing data from the standard AV sensor suite (i.e., lidars, cameras) with weather robust sensors, such as millimetre-wavelength radar. Critically, accurate sensor data fusion requires knowledge of the rigid-body transform between sensor pairs, which can be determined through the process of extrinsic calibration. A number of extrinsic calibration algorithms have been designed for 2D (planar) radar sensors - however, recently-developed, low-cost 3D millimetre-wavelength radars are set to displace their 2D counterparts in many applications. In this paper, we present a continuous-time 3D radar-to-camera extrinsic calibration algorithm that utilizes radar velocity measurements and, unlike the majority of existing techniques, does not require specialized radar retroreflectors to be present in the environment. We derive the observability properties of our formulation and demonstrate the efficacy of our algorithm through synthetic and real-world experiments.
