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A Sensor Fusion System with Thermal Infrared Camera and LiDAR for Autonomous Vehicles: Its Calibration and Application | IEEE Conference Publication | IEEE Xplore

A Sensor Fusion System with Thermal Infrared Camera and LiDAR for Autonomous Vehicles: Its Calibration and Application


Abstract:

Vision, Radar, and LiDAR sensors are widely used for autonomous vehicle perception technology. Especially object detection and classification are primarily dependent on v...Show More

Abstract:

Vision, Radar, and LiDAR sensors are widely used for autonomous vehicle perception technology. Especially object detection and classification are primarily dependent on vision sensors. However, under poor lighting conditions, dazzling sunlight, or bad weathers an object might be difficult to be identified with general vision sensors. In this paper, we propose a sensor fusion system with a thermal infrared camera and LiDAR sensor that can reliably detect and identify objects even in environments where visibility is poor, such as in severe glare and fog or smoke. The proposed method obtains intrinsic parameters by calibrating the thermal infrared camera and LiDAR sensor. Extrinsic calibration algorithm between two sensors is made to obtain the extrinsic parameters (rotation and translation matrix) using 3D calibration targets. This system and proposed algorithm show that it can reliably detect and identify objects even in hard visibility environments, such as in severe glare due to direct sunlight or headlights or in low visibility environments, such as in severe fog or smoke.
Date of Conference: 17-20 August 2021
Date Added to IEEE Xplore: 13 September 2021
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ISSN Information:

Conference Location: Jeju Island, Korea, Republic of

Funding Agency:


I. Introduction

Autonomous driving technology can be divided into perception, judgment, and control. Among them, perceiving the surrounding environment of an autonomous vehicle is the first step and a key determinant of performance. This is because the goal of perception is to detect the obstacles and provide the driving path in various driving environments. Perception technology is divided into communication type and sensor type. The communication type recognizes the surrounding situation through communication with the outside using communication equipment installed in the vehicle. The communication method between the transmission equipment inside the vehicle and the receiving equipment of the vehicle and a specific object is called Vehicle to Everything (V2X). Although the V2X communication has a longer range than the sensor type, it is vulnerable to hacking and its performance varies depending on the surrounding environment or vehicle condition.

References

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