Advanced obstacles detection and tracking by fusing millimeter wave radar and image sensor data

Liu, Xianru; Cai, Zixing

doi:10.1109/iccas.2010.5669740

Cited by 11 publications

(5 citation statements)

References 14 publications

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“…The mmWave's high carrier frequency and signal baud rate facilitates the attainment of high data rates and reduced latency, thereby enabling the transmission of high-quality data [4]. Radar and image sensing [5], [6], new generation WiFi (WiGig), virtual reality for 3D execution, medical applications [7], [8], military applications [9], [10], and Internet of Things applications [11] are some of the promising areas for mmWave spectrum.…”

Section: Introductionmentioning

confidence: 99%

Design and Performance Evaluation of Orthogonally Polarized Corporate Feed MIMO Antenna Array for Next-Generation Communication System

Raheel,

Ahmad,

Khan

et al. 2024

IEEE Access

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This study presents a novel, compact, diamond-shaped Multiple Input Multiple Output (MIMO) antenna system for 5G wireless communication. The proposed MIMO antenna system encompasses an array configuration, with each array unit comprising two antenna elements. The array elements are then orthogonally oriented making it a dual-port MIMO antenna system. The system is printed on a commercially available Rogers 5880, characterized by a permittivity (εr) of 2.2 and a loss tangent (tan(δ)) of 0.0009. The overall dimensions of the MIMO antenna system are 26 × 16 × 0.254 mm 3 , operating in an mm-wave band with a frequency spectrum spanning from 26.2 to 34.2 GHz. The single antenna element exhibited a gain of 3.8 dBi and is then improved up to 7.6 dBi with two elements array arrangement. The system exhibited satisfactory MIMO characteristics with a maximum diversity gain of 10 dB, an envelope correlation coefficient of less than 0.0005, and an impressive 25 dB isolation between the antenna elements. Moreover, the proposed MIMO antenna array consistently maintained a radiation efficiency exceeding 90% across the entire desired frequency spectrum. Measurements were conducted with fabricated prototypes to validate the simulation results and were found in good agreement. The remarkable features of the proposed MIMO antenna system, such as compact size, wide bandwidth, good efficiency, and satisfactory gain values make it a promising candidate for 5G millimeter-wave wireless communication networks.

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Section: Introductionmentioning

confidence: 99%

Design and Performance Evaluation of Orthogonally Polarized Corporate Feed MIMO Antenna Array for Next-Generation Communication System

Raheel,

Ahmad,

Khan

et al. 2024

IEEE Access

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“…However, this method has a low calibration accuracy and can only provide clues for obstacle detection and verification. Liu and Cai proposed a new calibration algorithm based on the mean shift (MS) and unscented Kalman filter (UKF) [33]. In this algorithm, the UKF model was constructed according to the object velocity measured by the MMW radar and the center of the target predicted by the UKF.…”

Section: Introductionmentioning

confidence: 99%

A high-accuracy calibration method for fusion systems of millimeter-wave radar and camera

Wang¹,

Wang²,

Zhou³

2022

Meas. Sci. Technol.

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Multi-sensor information fusion is widely used in the field of unmanned aerial vehicles (UAV) obstacle avoidance flight, particularly in millimeter-wave radar (MMW) and camera fusion systems. Calibration accuracy plays a crucial role in fusion systems. The low-angle measurement accuracy of the MMW radar usually causes large calibration errors. To reduce calibration errors, a high-accuracy calibration method based on a region of interest (ROI) and an artificial potential field was proposed in this paper. The ROI was selected based on the initial calibration information andimage. An artificial potential fieldthe MMW radar’s angle measurement error range from thewas established using the pixels of the ROI. Two moving points were initially set at the left and right ends of the ROI initially. The potential forces of the two moving points are different because the pixels of the obstacle and the background are different in the image. The two moving points were iteratively moved towards each other according to the force until their distance was less than the iteration step. The new calibration point is located in the middle of the final position of the two moving points. In contrast to the existing calibration methods, the proposed method avoids the limitations of low angle measurement accuracy by using image pixels. The experimental results show that the calibration errors decrease by 83.95% and 75.79%, which is significantly improved compared to the traditional methods and indicates the efficiency of the proposed method.

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“…LiDAR and RGB-D camera are combined to distinguish target from a human gathering environment in (Hoshino and Morioka, 2011;Bellotto and Hu, 2009;Koide and Miura, 2016). The combination of radars and vision sensors are also investigated (Zhang and Cao, 2019;Liu et al, 2008;Kim and Jeon, 2014;Liu and Cai, 2010). Though most of them achieve satisfying result, these decision-level fusion methods rely much on accurate single-sensor detection and localization results.…”

Section: Introductionmentioning

confidence: 99%

“…Afterwards, a sensor fusion algorithm with feature matching is realized. Different from existing fusion method (Liu et al, 2008;Kim and Jeon, 2014;Liu and Cai, 2010), the proposed method detects the distance and velocity information from the MMW radar to the camera frame and match the semantic information from camera. Target identification and localization are finally achieved with the help of a human following strategy.…”

Section: Introductionmentioning

confidence: 99%

A novel tracking system for human following robots with fusion of MMW radar and monocular vision

Zhu

Wang

Zhu

2021

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Purpose This paper aims to develop a robust person tracking method for human following robots. The tracking system adopts the multimodal fusion results of millimeter wave (MMW) radars and monocular cameras for perception. A prototype of human following robot is developed and evaluated by using the proposed tracking system. Design/methodology/approach Limited by angular resolution, point clouds from MMW radars are too sparse to form features for human detection. Monocular cameras can provide semantic information for objects in view, but cannot provide spatial locations. Considering the complementarity of the two sensors, a sensor fusion algorithm based on multimodal data combination is proposed to identify and localize the target person under challenging conditions. In addition, a closed-loop controller is designed for the robot to follow the target person with expected distance. Findings A series of experiments under different circumstances are carried out to validate the fusion-based tracking method. Experimental results show that the average tracking errors are around 0.1 m. It is also found that the robot can handle different situations and overcome short-term interference, continually track and follow the target person. Originality/value This paper proposed a robust tracking system with the fusion of MMW radars and cameras. Interference such as occlusion and overlapping are well handled with the help of the velocity information from the radars. Compared to other state-of-the-art plans, the sensor fusion method is cost-effective and requires no additional tags with people. Its stable performance shows good application prospects in human following robots.

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Advanced obstacles detection and tracking by fusing millimeter wave radar and image sensor data

Cited by 11 publications

References 14 publications

Design and Performance Evaluation of Orthogonally Polarized Corporate Feed MIMO Antenna Array for Next-Generation Communication System

Design and Performance Evaluation of Orthogonally Polarized Corporate Feed MIMO Antenna Array for Next-Generation Communication System

A high-accuracy calibration method for fusion systems of millimeter-wave radar and camera

A novel tracking system for human following robots with fusion of MMW radar and monocular vision

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