Extending Reliability of mmWave Radar Tracking and Detection via Fusion With Camera
Affiliation
Univ Arizona, Dept Elect & Comp EngnIssue Date
2019-09-19Keywords
Millimeter wave radarKalman filtering
error bounds
multisensor systems
sensor fusion
fusion-EKF
homography estimation
multi-target tracking
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Zhang, R., & Cao, S. (2019). Extending Reliability of mmWave Radar Tracking and Detection via Fusion With Camera. IEEE Access, 7, 137065-137079.Journal
IEEE ACCESSRights
This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see http://creativecommons.org/licenses/by/4.0/.Collection Information
This item from the UA Faculty Publications collection is made available by the University of Arizona with support from the University of Arizona Libraries. If you have questions, please contact us at repository@u.library.arizona.edu.Abstract
In this paper, a new radar-camera fusion system is presented. The fusion system takes into consideration the error bounds of the two different coordinate systems from the heterogeneous sensors, and further a new fusion-extended Kalman filter is utilized to adapt to the heterogeneous sensors. Real-world application considerations such as asynchronous sensors, multi-target tracking and association are also studied and illustrated in this paper. Experimental results demonstrated that the proposed fusion system can realize a range accuracy of 0.29m with an angular accuracy of 0.013rad in real-time. Therefore, the proposed fusion system is effective, reliable and computationally efficient for real-time kinematic fusion applications.Note
Open access journalISSN
2169-3536Version
Final published versionSponsors
University of Arizonaae974a485f413a2113503eed53cd6c53
10.1109/access.2019.2942382
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Except where otherwise noted, this item's license is described as This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see http://creativecommons.org/licenses/by/4.0/.