Radar and vision sensors calibration for outdoor 3D reconstruction
作者： Ghina El Natour , Omar Ait Aider , Raphael Rouveure , Francois Berry , Patrice Faure
DOI: 10.1109/ICRA.2015.7139473
关键词: Iterative reconstruction 、 Radar engineering details 、 3D reconstruction 、 Inverse synthetic aperture radar 、 Computer vision 、 Radar imaging 、 Radar 、 Artificial intelligence 、 Synthetic aperture radar 、 Computer science 、 Radar tracker
摘要: In this paper we introduce a new geometric calibration algorithm, and method of 3D reconstruction using panoramic microwave radar camera. These two sensors are complementary, considering the robustness to environmental conditions depth detection ability on one hand, high spatial resolution vision sensor other hand. This makes approach well adapted for large scale outdoor cartography. Firstly, address global problem which consists in finding exact transformation between camera coordinate systems. The is based optimization non-linear criterion obtained from set radar-to-image target correspondences. Unlike existing methods, no special configuration points required, only knowledge inter-targets distance needed. flexible easy use by non expert operator. Secondly, present geometry. Both methods have been validated with synthetic real data.
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