Occupancy Grid Fusion of Low-Level Radar and Time-of-Flight Sensor Data

Josef Steinbaeck, Christian Steger, Eugen Brenner, Gerald Holweg, Norbert Druml

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

Abstract

We present an approach to fuse radar and time-of-flight (ToF) range sensor data into an occupancy grid. Fusing the low-level data at sensor level prevents the loss of precious information during compression and pre-processing. Constructing the low-level occupancy grid from raw sensor data enables the detection of occupied cells which are not clearly visible by any of the single sensors. Fusion of the heterogeneous sensor data enhances the perception quality since single sensors fail in certain conditions. Thus, the fusion at low-level holds a high potential to enhance the perception quality for automotive/robotic applications. We demonstrate our approach with real-world data from a mobile sensor platform with three ToF cameras and a 77 GHz high-resolution radar sensor. An occupancy grid is created whenever synchronized sensor data from all sensors is available. The proposed method performed successful detection of multiple pedestrians in different test scenarios. Our approach to build an occupancy grid from radar and optical range sensors can be used as a base in various short-range perception applications (e.g., in robotics or mobile devices).

Original languageEnglish
Title of host publicationProceedings - Euromicro Conference on Digital System Design, DSD 2019
EditorsNikos Konofaos, Paris Kitsos
PublisherInstitute of Electrical and Electronics Engineers
Pages200-205
Number of pages6
ISBN (Electronic)9781728128610
DOIs
Publication statusPublished - 1 Aug 2019
Event22nd Euromicro Conference on Digital System Design, DSD 2019 - Kallithea, Chalkidiki, Greece
Duration: 28 Aug 201930 Aug 2019

Publication series

NameProceedings - Euromicro Conference on Digital System Design, DSD 2019

Conference

Conference22nd Euromicro Conference on Digital System Design, DSD 2019
CountryGreece
CityKallithea, Chalkidiki
Period28/08/1930/08/19

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Keywords

  • radar
  • robotics
  • sensor fusion
  • time-of-flight

ASJC Scopus subject areas

  • Hardware and Architecture
  • Information Systems
  • Information Systems and Management

Cite this

Steinbaeck, J., Steger, C., Brenner, E., Holweg, G., & Druml, N. (2019). Occupancy Grid Fusion of Low-Level Radar and Time-of-Flight Sensor Data. In N. Konofaos, & P. Kitsos (Eds.), Proceedings - Euromicro Conference on Digital System Design, DSD 2019 (pp. 200-205). [8875224] (Proceedings - Euromicro Conference on Digital System Design, DSD 2019). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/DSD.2019.00038