CalTag: Robust calibration of mmWave Radar and LiDAR using backscatter tags
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Acceso en línea: | |
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| _version_ | 1866909318133055488 |
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| author | Xu, Junyi Bansal, Kshitiz Bharadia, Dinesh |
| author_facet | Xu, Junyi Bansal, Kshitiz Bharadia, Dinesh |
| contents | The rise of automation in robotics necessitates the use of high-quality perception systems, often through the use of multiple sensors. A crucial aspect of a successfully deployed multi-sensor system is the calibration with a known object typically named fiducial. In this work, we propose a novel fiducial system for millimeter wave radars, termed as CalTag. CalTag addresses the limitations of traditional corner reflector-based calibration methods in extremely cluttered environments. CalTag leverages millimeter wave backscatter technology to achieve more reliable calibration than corner reflectors, enhancing the overall performance of multi-sensor perception systems. We compare the performance in several real-world environments and show the improvement achieved by using CalTag as the radar fiducial over a corner reflector. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_16867 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | CalTag: Robust calibration of mmWave Radar and LiDAR using backscatter tags Xu, Junyi Bansal, Kshitiz Bharadia, Dinesh Robotics Signal Processing The rise of automation in robotics necessitates the use of high-quality perception systems, often through the use of multiple sensors. A crucial aspect of a successfully deployed multi-sensor system is the calibration with a known object typically named fiducial. In this work, we propose a novel fiducial system for millimeter wave radars, termed as CalTag. CalTag addresses the limitations of traditional corner reflector-based calibration methods in extremely cluttered environments. CalTag leverages millimeter wave backscatter technology to achieve more reliable calibration than corner reflectors, enhancing the overall performance of multi-sensor perception systems. We compare the performance in several real-world environments and show the improvement achieved by using CalTag as the radar fiducial over a corner reflector. |
| title | CalTag: Robust calibration of mmWave Radar and LiDAR using backscatter tags |
| topic | Robotics Signal Processing |
| url | https://arxiv.org/abs/2408.16867 |