Millimeter-Wave Radar Pose Calibration Using a Signal Booster Target
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Solution Overview
Problem
The existing automatic driving systems face challenges in determining the relative pose between millimeter-wave radar sensors and other sensors, such as laser radar sensors, which hinders the efficient conversion and utilization of detected information across different coordinate systems.
Innovation Solution
A method and apparatus that involve obtaining millimeter-wave data and data from other sensors, using a millimeter-wave radar signal booster as a target obstacle, and determining the relative pose by converting and comparing obstacle data in both coordinate systems to minimize position errors and determine the correct pose between sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If millimeter-wave radar sensor and other sensors are installed in a vehicle for automatic driving, then the sensing coverage and detection capabilities are improved, but the difficulty of determining relative pose between sensors increases
Solution Approach 1:
The patent introduces a millimeter-wave radar signal booster as an intermediary object to facilitate relative pose determination. The signal booster serves as a common reference target that both the millimeter-wave radar sensor and other sensors (laser radar, camera) can detect. By using this intermediary object, the system can establish coordinate transformations between different sensor systems without requiring direct complex calibration procedures between all sensor pairs.
2Reliability
If multiple sensors are used to collect obstacle data, then the detection accuracy and reliability are improved, but the complexity of data processing and coordinate system conversion increases
Solution Approach 1:
The patent segments the data processing task by first identifying and extracting obstacle data from each sensor independently, then matching corresponding obstacles across different sensor datasets. The processing is divided into distinct stages: data acquisition from individual sensors, obstacle correspondence determination, and coordinate transformation. This segmentation reduces the overall complexity by breaking down the complex multi-sensor integration problem into manageable sequential steps.
Solution Approach 2:
The millimeter-wave radar signal booster acts as a mediator that simplifies coordinate system conversion. By using the signal booster's known position and reflective characteristics, the system can establish transformation relationships between different sensor coordinate systems through a common reference frame, rather than requiring direct complex transformations between all possible sensor pairs.
3Device complexity
If relative pose determination between sensors is not accurately achieved, then the system simplicity is maintained, but the utilization efficiency of detected information decreases
Solution Approach 1:
The patent uses the millimeter-wave radar signal booster as a mediator to achieve accurate relative pose determination while maintaining system simplicity. The signal booster provides a known reference target that enables precise coordinate transformations without requiring complex calibration equipment or procedures. This approach achieves high information utilization efficiency through a relatively simple system architecture.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables effective interconversion of detected information between millimeter-wave radar and other sensor coordinate systems, enhancing the utilization and accuracy of sensor data in automatic driving systems.
Implementation Method 1
The millimeter-wave radar sensor refers to a radar sensor operating at a millimeter-wave band
Implementation Method 2
a millimeter-wave radar signal booster is disposed in the scene as a target obstacle
Implementation Method 3
The laser radar sensor is a radar sensor which detects a characteristic amount such as a target position, a velocity or the like by transmitting a laser beam
Implementation Method 4
transmitting a laser beam
Data Source
AI summary
Embodiments of the present disclosure disclose a method and an apparatus for determining a relative pose, a device, and a medium. The method comprises: obtaining millimeter-wave data for obstacles in a scene collected by a millimeter-wave radar sensor in a vehicle and first data for the obstacles in the scene collected by a first sensor in the vehicle, wherein, at least one millimeter-wave radar signal booster is disposed in the scene as a target obstacle and the obstacles comprise the target obstacle; determining first obstacle data for the target obstacle in a millimeter-wave radar coordinate system and second obstacle data for the target obstacle in a first sensor coordinate system according to the millimeter-wave data and the first data for the obstacles in the scene; and determining the relative pose between the millimeter-wave radar sensor and the first sensor according to the first obstacle data and the second obstacle data.