Ekstrinzična kalibracija za RADAR sustave

undergraduate thesis

• Title (english): Extrinsic Calibration for RADAR Systems
• Author: Anastazija Barić
• Mentor: Ivan Magdalenić (mentor); MBZ: 244501
• Committee member: Nikola Ivković (član povjerenstva); MBZ: 306480
• Granter: University of Zagreb; Faculty of Organization and Informatics; (Department of Computing and Technology); Varaždin
• Defense date and country: 2024-09-24, Croatia
• Scientific / art field, discipline and subdiscipline: SOCIAL SCIENCES; Information and Communication Sciences; Organization and Informatics

Abstract

This thesis explores the application of the Iterative Closest Point (ICP) algorithm in radar calibration for autonomous systems, with a particular focus on yaw rotations. The Mid-range radar MCR1 was mounted on the UR5e robot arm and used to collect radar data. The radar was tested under controlled conditions. In the measurements, the radar was subjected to incremental yaw rotations with the robot arm to investigate how effective the algorithm could be at transforming the radar data to a reference position. The findings of the ICP algorithm demonstrate that the effective reduction of alignment errors leads to the collection of accurate calibration data, which is very important for the precise mapping of the environment required by driverless cars. The findings also illustrate the potential for the algorithm to include other rotational adjustments, such as roll and pitch, and enhance the obtained results from yaw rotation. The results from yaw rotation suggest potential areas for further exploration providing a base for accurate data analysis and laying the groundwork for future improvements in radar systems.

• Keywords: radar
• Language: croatian
• URN:NBN: urn:nbn:hr:211:152787
• Study programme: Title: Business Systems; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) informatike (sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) informatike)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Access restricted to authenticated users
• Created on: 2024-09-30 04:16:37