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Fast Online Coordinate Correction of a Multi-Sensor for Object Identification in Autonomous Vehicles

Title
Fast Online Coordinate Correction of a Multi-Sensor for Object Identification in Autonomous Vehicles
Author
이민철
Keywords
mutli-sensor cooirdinate matching; data association; object identification; online parameter estimation; multi-sensor object convergence; autonomous vehicle
Issue Date
2019-05
Publisher
MDPI
Citation
SENSORS, v. 19, NO 9, no. 2006
Abstract
Multi-sensor perception systems may have mismatched coordinates between each sensor even if the sensor coordinates are converted to a common coordinate. This discrepancy can be due to the sensor noise, deformation of the sensor mount, and other factors. These mismatched coordinates can seriously affect the estimation of a distant object's position and this error can result in problems with object identification. To overcome these problems, numerous coordinate correction methods have been studied to minimize coordinate mismatching, such as off-line sensor error modeling and real-time error estimation methods. The first approach, off-line sensor error modeling, cannot cope with the occurrence of a mismatched coordinate in real-time. The second approach, using real-time error estimation methods, has high computational complexity due to the singular value decomposition. Therefore, we present a fast online coordinate correction method based on a reduced sensor position error model with dominant parameters and estimate the parameters by using rapid math operations. By applying the fast coordinate correction method, we can reduce the computational effort within the necessary tolerance of the estimation error. By experiments, the computational effort was improved by up to 99.7% compared to the previous study, and regarding the object's radar the identification problems were improved by 94.8%. We conclude that the proposed method provides sufficient correcting performance for autonomous driving applications when the multi-sensor coordinates are mismatched.
URI
https://www.mdpi.com/1424-8220/19/9/2006https://repository.hanyang.ac.kr/handle/20.500.11754/150958
ISSN
1424-8220
DOI
10.3390/s19092006
Appears in Collections:
RESEARCH INSTITUTE[S](부설연구소) > ETC
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