Ekstrinzična kalibracija za RADAR sustave

završni rad

• Naslov (engleski): Extrinsic Calibration for RADAR Systems
• Autor: Anastazija Barić
• Mentor: Ivan Magdalenić (mentor); MBZ: 244501
• Član povjerenstva: Nikola Ivković (član povjerenstva); MBZ: 306480
• Ustanova koja je dodijelila akademski / stručni stupanj: Sveučilište u Zagrebu; Fakultet organizacije i informatike; (Katedra za informatičke tehnologije i računarstvo); Varaždin
• Datum i država obrane: 2024-09-24, Hrvatska
• Znanstveno / umjetničko područje, polje i grana: DRUŠTVENE ZNANOSTI; Informacijske i komunikacijske znanosti; Organizacija i informatika

Sažetak

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.

• Ključne riječi: radar
• Jezik: hrvatski
• URN:NBN: urn:nbn:hr:211:152787
• Studijski program: Naziv: Poslovni sustavi; Vrsta studija: sveučilišni; Stupanj studija: preddiplomski; Akademski / stručni naziv: sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) informatike (univ.bacc.inf.)
• Vrsta resursa: Tekst
• Način izrade datoteke: Izvorno digitalna
• Prava pristupa: Pristup svim korisnicima iz sustava znanosti i visokog obrazovanja RH
• Datum i vrijeme pohrane: 2024-09-30 04:16:37