A LOW-COST VISUAL RADAR-BASED ODOMETRY FRAMEWORK WITH MMWAVE RADAR AND MONOCULAR CAMERA

Y. E. Lu, S. Tsai, M. L. Tsai, K. W. Chiang

研究成果: Conference article同行評審

摘要

One of the most popular research areas is low-cost navigation and positioning systems for autonomous vehicles. Determining a vehicle's position within a lane is critical for achieving high automation. Vehicle navigation and positioning relied heavily on the Global Navigation Satellite System (GNSS) service in open-sky scenarios. Nonetheless, GNSS signals were easily degraded due to various environmental situations such as urban canyons caused by multi-path effects and Non-Line-of-Sight (NLOS) issues. To perform robustly in complex scenarios, sensor fusion is the most common solution. The following paper presents a radar visual odometry framework to improve the lack of scale factors for monocular cameras and poor angular resolution for radar. The framework is based on the characteristics of camera and radar sensors which have complementary advantages in each other. The results show that the proposed framework can be used to estimate general 2D motion in an indoor environment and correct the unknown scale factor of Monocular Visual Odometry in a real-world setting.

原文English
頁(從 - 到)235-240
頁數6
期刊International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
43
發行號B1-2022
DOIs
出版狀態Published - 2022 5月 30
事件2022 24th ISPRS Congress on Imaging Today, Foreseeing Tomorrow, Commission I - Nice, France
持續時間: 2022 6月 62022 6月 11

All Science Journal Classification (ASJC) codes

  • 資訊系統
  • 地理、規劃與發展

指紋

深入研究「A LOW-COST VISUAL RADAR-BASED ODOMETRY FRAMEWORK WITH MMWAVE RADAR AND MONOCULAR CAMERA」主題。共同形成了獨特的指紋。

引用此