A Novel Method of Spatial Calibration for Camera and 2D Radar Based on Registration

Chanho Song, Gukjin Son, Heekang Kim, Dongyeong Gu, Jin Hee Lee, Youngduk Kim

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations

Abstract

The fusion of sensor data is important to improve the accuracy of vehicle detection in traffic surveillance system. For the sensor fusion, spatial calibration is required between each coordinate system of sensor. In this paper, we propose a new method of spatial calibration between mono camera and 2D radar. Using an AR-marker, which is designed to be detectable by radar, we simultaneously measure the position of marker with respect to the coordinate system of camera and radar. Based on multiple measurements of marker position, the position data is obtained from it. By applying the paired point registration, the transformation is acquired between the coordinate system of radar and camera. The experimental results confirm that the proposed method shows around 0.3 m registration error, which is acceptable for detecting vehicles. We believe that our method can be helpful to enhance the accuracy of vehicle detection in traffic surveillance system and other application such as autonomous driving vehicle.

Original languageEnglish
Title of host publicationProceedings - 2017 6th IIAI International Congress on Advanced Applied Informatics, IIAI-AAI 2017
EditorsKiyota Hashimoto, Naoki Fukuta, Tokuro Matsuo, Sachio Hirokawa, Masao Mori, Masao Mori
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1055-1056
Number of pages2
ISBN (Electronic)9781538606216
DOIs
StatePublished - 15 Nov 2017
Event6th IIAI International Congress on Advanced Applied Informatics, IIAI-AAI 2017 - Hamamatsu, Shizuoka, Japan
Duration: 9 Jul 2017 → …

Publication series

NameProceedings - 2017 6th IIAI International Congress on Advanced Applied Informatics, IIAI-AAI 2017

Conference

Conference6th IIAI International Congress on Advanced Applied Informatics, IIAI-AAI 2017
Country/TerritoryJapan
CityHamamatsu, Shizuoka
Period9/07/17 → …

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

  • Multi-senor
  • Paired Point Registration
  • Sensor Fusion
  • Spatial Calibration

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