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

Josef Steinbaeck; Christian Steger; Gerald Holweg; Norbert Druml

doi:10.1109/DSD.2018.00056

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

Josef Steinbaeck, Christian Steger, Gerald Holweg, Norbert Druml

Institute of Technical Informatics (4480)

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

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 language	English
Title of host publication	Proceedings - 21st Euromicro Conference on Digital System Design, DSD 2018
Publisher	Institute of Electrical and Electronics Engineers
Pages	268-275
Number of pages	8
ISBN (Electronic)	9781538673768
DOIs	https://doi.org/10.1109/DSD.2018.00056
Publication status	Published - 12 Oct 2018
Event	21st Euromicro Conference on Digital System Design, DSD 2018 - Prague, Czech Republic Duration: 29 Aug 2018 → 31 Aug 2018

Conference

Conference	21st Euromicro Conference on Digital System Design, DSD 2018
Abbreviated title	DSD 2018
Country/Territory	Czech Republic
City	Prague
Period	29/08/18 → 31/08/18

Keywords

Automotive sensors
Radar
Sensor fusion
Time-of-flight

ASJC Scopus subject areas

Hardware and Architecture

Access to Document

10.1109/DSD.2018.00056

Cite this

Design of a low-level radar and time-of-flight sensor fusion framework. / Steinbaeck, Josef; Steger, Christian; Holweg, Gerald et al.
Proceedings - 21st Euromicro Conference on Digital System Design, DSD 2018. Institute of Electrical and Electronics Engineers, 2018. p. 268-275 8491827.

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

Steinbaeck, J, Steger, C, Holweg, G & Druml, N 2018, Design of a low-level radar and time-of-flight sensor fusion framework. in Proceedings - 21st Euromicro Conference on Digital System Design, DSD 2018., 8491827, Institute of Electrical and Electronics Engineers, pp. 268-275, 21st Euromicro Conference on Digital System Design, DSD 2018, Prague, Czech Republic, 29/08/18. https://doi.org/10.1109/DSD.2018.00056

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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.",

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

Abstract

Conference

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Hardware/Software-Codesign

Cite this

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

Abstract

Conference

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Projects

Hardware/Software-Codesign

Cite this