3D ONLINE TERRAIN MAPPING WITH SCANNING RADAR SENSORS
Environmental perception is one of the core requirements in autonomous vehicle navigation. If exposed to harsh conditions, commonly deployed sensors like cameras or lidars deliver poor sensing performance. Millimeter wave radars enable robust sensing of the environment, but suffer from specular refl...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2020-08-01
|
| Series: | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/V-1-2020/125/2020/isprs-annals-V-1-2020-125-2020.pdf |
| _version_ | 1819048389615026176 |
|---|---|
| author | C. Weidinger T. Kadiofsky P. Glira C. Zinner W. Kubinger |
| author_facet | C. Weidinger T. Kadiofsky P. Glira C. Zinner W. Kubinger |
| author_sort | C. Weidinger |
| collection | DOAJ |
| description | Environmental perception is one of the core requirements in autonomous vehicle navigation. If exposed to harsh conditions, commonly deployed sensors like cameras or lidars deliver poor sensing performance. Millimeter wave radars enable robust sensing of the environment, but suffer from specular reflections and large beamwidths. To incorporate the sensor noise and lateral uncertainty, a new probabilistic, voxel-based recursive mapping method is presented to enable online terrain mapping using scanning radar sensors. For map accuracy evaluation, test measurements are performed with a scanning radar sensor in an off-road area. The voxel map is used to derive a digital terrain model, which can be compared with ground-truth data from an image-based photogrammetric reconstruction of the terrain. The method evaluation shows promising results for terrain mapping solely performed with radar scanners. However, small terrain structures still pose a problem due to larger beamwidths in comparison to lidar sensors. |
| first_indexed | 2024-12-21T11:15:29Z |
| format | Article |
| id | doaj.art-276093abd5654a4791e6b5e7fae25ac7 |
| institution | Directory Open Access Journal |
| issn | 2194-9042 2194-9050 |
| language | English |
| last_indexed | 2024-12-21T11:15:29Z |
| publishDate | 2020-08-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| spelling | doaj.art-276093abd5654a4791e6b5e7fae25ac72022-12-21T19:05:56ZengCopernicus PublicationsISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences2194-90422194-90502020-08-01V-1-202012513210.5194/isprs-annals-V-1-2020-125-20203D ONLINE TERRAIN MAPPING WITH SCANNING RADAR SENSORSC. Weidinger0T. Kadiofsky1P. Glira2C. Zinner3W. Kubinger4Center for Vision, Automation and Control, AIT - Austrian Institute of Technology, Vienna, AustriaCenter for Vision, Automation and Control, AIT - Austrian Institute of Technology, Vienna, AustriaCenter for Vision, Automation and Control, AIT - Austrian Institute of Technology, Vienna, AustriaCenter for Vision, Automation and Control, AIT - Austrian Institute of Technology, Vienna, AustriaDepartment Industrial Engineering, University of Applied Sciences Technikum Wien, Vienna, AustriaEnvironmental perception is one of the core requirements in autonomous vehicle navigation. If exposed to harsh conditions, commonly deployed sensors like cameras or lidars deliver poor sensing performance. Millimeter wave radars enable robust sensing of the environment, but suffer from specular reflections and large beamwidths. To incorporate the sensor noise and lateral uncertainty, a new probabilistic, voxel-based recursive mapping method is presented to enable online terrain mapping using scanning radar sensors. For map accuracy evaluation, test measurements are performed with a scanning radar sensor in an off-road area. The voxel map is used to derive a digital terrain model, which can be compared with ground-truth data from an image-based photogrammetric reconstruction of the terrain. The method evaluation shows promising results for terrain mapping solely performed with radar scanners. However, small terrain structures still pose a problem due to larger beamwidths in comparison to lidar sensors.https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/V-1-2020/125/2020/isprs-annals-V-1-2020-125-2020.pdf |
| spellingShingle | C. Weidinger T. Kadiofsky P. Glira C. Zinner W. Kubinger 3D ONLINE TERRAIN MAPPING WITH SCANNING RADAR SENSORS ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| title | 3D ONLINE TERRAIN MAPPING WITH SCANNING RADAR SENSORS |
| title_full | 3D ONLINE TERRAIN MAPPING WITH SCANNING RADAR SENSORS |
| title_fullStr | 3D ONLINE TERRAIN MAPPING WITH SCANNING RADAR SENSORS |
| title_full_unstemmed | 3D ONLINE TERRAIN MAPPING WITH SCANNING RADAR SENSORS |
| title_short | 3D ONLINE TERRAIN MAPPING WITH SCANNING RADAR SENSORS |
| title_sort | 3d online terrain mapping with scanning radar sensors |
| url | https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/V-1-2020/125/2020/isprs-annals-V-1-2020-125-2020.pdf |
| work_keys_str_mv | AT cweidinger 3donlineterrainmappingwithscanningradarsensors AT tkadiofsky 3donlineterrainmappingwithscanningradarsensors AT pglira 3donlineterrainmappingwithscanningradarsensors AT czinner 3donlineterrainmappingwithscanningradarsensors AT wkubinger 3donlineterrainmappingwithscanningradarsensors |