Design of a low-level radar and time-of-flight sensor fusion framework

Josef Steinbaeck, Christian Steger, Gerald Holweg, Norbert Druml

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We present an open hardware and software platform to efficiently fuse heterogeneous sensor data in an automotive/robotic context. The framework presented in this paper provides researchers a base platform in order to develop and evaluate sensor fusion strategies. In contrast to similar approaches, this framework exploits in particular the raw radar data and enables the fusion at low-level. The proposed system utilizes low-level data from radar sensors as well as indirect (e.g. 3D imaging) and direct (e.g. LIDAR) Time-of-Flight (ToF) sensors. After a configurable amount of pre-processing at sensor-level, the sensor data is transferred to a centralized platform and aligned temporally and spatially. We demonstrate the transformation of radar data into the 3D coordinate system in order to fuse it with point cloud data from ToF sensors. Due to the modular structure of the framework, it also enables the exploration of various system partitioning concepts.

Original languageEnglish
Title of host publicationProceedings - 21st Euromicro Conference on Digital System Design, DSD 2018
PublisherInstitute of Electrical and Electronics Engineers
Pages268-275
Number of pages8
ISBN (Electronic)9781538673768
DOIs
Publication statusPublished - 12 Oct 2018
Event21st Euromicro Conference on Digital System Design, DSD 2018 - Prague, Czech Republic
Duration: 29 Aug 201831 Aug 2018

Conference

Conference21st Euromicro Conference on Digital System Design, DSD 2018
Abbreviated titleDSD 2018
CountryCzech Republic
CityPrague
Period29/08/1831/08/18

Keywords

  • Automotive sensors
  • Radar
  • Sensor fusion
  • Time-of-flight

ASJC Scopus subject areas

  • Hardware and Architecture

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