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Automatic Position Calibration Between Radar and Camera

Bergöö, August LU and Jönsson, Simon LU (2018) In Master's Theses in Mathematical Sciences FMAM05 20181
Mathematics (Faculty of Engineering)
Abstract
A radar detector excels in poor light conditions compared to a camera, but currently there is no way to visualize the radar detections in an arbitrary camera monitoring the same scene. In this thesis, a method for automatic calibration of a radar-camera system is proposed. With our method, the position and orientation of the camera (in relation to the radar) can be calculated automatically. The calibration also provides optical (intrinsic) parameters of the camera, such as the focal length and the radial distortion coefficient. The calibration process consists of collecting data over time by detecting moving objects. Then, point correspondences between the radar and camera are established on which a homography is calculated by a... (More)
A radar detector excels in poor light conditions compared to a camera, but currently there is no way to visualize the radar detections in an arbitrary camera monitoring the same scene. In this thesis, a method for automatic calibration of a radar-camera system is proposed. With our method, the position and orientation of the camera (in relation to the radar) can be calculated automatically. The calibration also provides optical (intrinsic) parameters of the camera, such as the focal length and the radial distortion coefficient. The calibration process consists of collecting data over time by detecting moving objects. Then, point correspondences between the radar and camera are established on which a homography is calculated by a combination of Random Sample Consensus (RANSAC) and Sequential Least Squares Programming (SLSQP). After the calibration, the radar detection can be overlaid in the correct place in the camera view, giving visual guidance to camera operators. (Less)
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author
Bergöö, August LU and Jönsson, Simon LU
supervisor
organization
course
FMAM05 20181
year
type
H2 - Master's Degree (Two Years)
subject
keywords
Computer Vision, Radar, Camera, Calibration, Position
publication/series
Master's Theses in Mathematical Sciences
report number
LUTFMA-3356-2018
ISSN
1404-6342
other publication id
2018:E38
language
English
id
8949573
date added to LUP
2018-06-19 16:36:58
date last changed
2018-06-19 16:36:58
@misc{8949573,
  abstract     = {A radar detector excels in poor light conditions compared to a camera, but currently there is no way to visualize the radar detections in an arbitrary camera monitoring the same scene. In this thesis, a method for automatic calibration of a radar-camera system is proposed. With our method, the position and orientation of the camera (in relation to the radar) can be calculated automatically. The calibration also provides optical (intrinsic) parameters of the camera, such as the focal length and the radial distortion coefficient. The calibration process consists of collecting data over time by detecting moving objects. Then, point correspondences between the radar and camera are established on which a homography is calculated by a combination of Random Sample Consensus (RANSAC) and Sequential Least Squares Programming (SLSQP). After the calibration, the radar detection can be overlaid in the correct place in the camera view, giving visual guidance to camera operators.},
  author       = {Bergöö, August and Jönsson, Simon},
  issn         = {1404-6342},
  keyword      = {Computer Vision,Radar,Camera,Calibration,Position},
  language     = {eng},
  note         = {Student Paper},
  series       = {Master's Theses in Mathematical Sciences},
  title        = {Automatic Position Calibration Between Radar and Camera},
  year         = {2018},
}