Spatial Calibration of Millimeter-Wave Radar for Close-Range Object Location

被引:1
作者
Paredes, Jose A. [1 ,2 ]
Hansard, Miles [2 ]
Rajab, Khalid Z. [3 ,4 ]
Alvarez, Fernando J. [5 ]
机构
[1] Univ Extremadura, Fac Ciencias, Sensory Syst Res Grp, Badajoz 06006, Spain
[2] Queen Mary Univ London, Sch EECS, Ctr Adv Robot ARQ, London E1 4NS, England
[3] Queen Mary Univ London, Sch EECS, Antennas & Electromagnet Res Grp, London E1 4NS, England
[4] NodeNs Med Ltd, London WC1A 2SL, England
[5] Univ Extremadura, Fac Ciencias, Sensory Syst Res Grp, Badajoz, Spain
关键词
Radar; Sensors; Calibration; Robots; Millimeter wave communication; Radar imaging; Visualization; Mapping methods; millimeter-wave (mmWave) radar; RGB camera; spatial calibration;
D O I
10.1109/JSEN.2024.3393030
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
Accurate object detection and location systems are essential for many robotic applications, including autonomous grasping and manipulation systems. In some cases, the target object may be obscured from view, in clutter, packaging, or debris. Millimeter-wave radar (mmWave) is a potential alternative to visual sensing in such scenarios, owing to its ability to penetrate typical low-density non-metallic materials. However, this approach requires accurate spatial calibration of the radar signal, over the robot workspace. We propose to achieve this with reference to visual data, which provides ground-truth locations for initial training of the system. Specifically, we describe a commodity mmWave radar system for detecting and localizing static metallic objects, over a 2-D workspace. We compare similarity, affine, and thin-plate spline (TPS) models of the spatial transformation from radar estimates to actual locations. Experiments were performed with a frequency modulated continuous wave (FMCW) multiple-input multiple-output (MIMO) device, using a starting frequency of 60 GHz and a bandwidth of 3.4 GHz. It is shown that the spline model performs best, achieving an average spatial error of 7 mm, which is an order of magnitude lower than that of the uncalibrated system.
引用
收藏
页码:19407 / 19416
页数:10
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