Radar and LiDAR Sensorfusion in Low Visibility Environments

Paul Fritsche, Simon Kueppers, Gunnar Briese, Bernardo Wagner

2016

Abstract

LiDAR sensors are unable to detect objects that are inside or behind dense smoke, fog or dust. These aerosols lead to problems for environmental modeling with mobile robotic platforms. For example, if a robot equipped with a LiDAR is surrounded by dense smoke, it can neither localize itself nor can it create a map. Radar sensors, on the other hand, are immune to these conditions, but are unable to represent the structure of an environment in the same quality as a LiDAR due to limited range and angular resolution. In this paper, we introduce the mechanically pivoting radar (MPR), which is a 2D high bandwidth radar scanner. We present first results for robotic mapping and a fusion strategy in order to reduce the negative influence of the aforementioned harsh conditions on LiDAR scans. In addition to the metric representation of an environment with low visibility, we introduce the LRR (LiDAR-Radar-Ratio), which correlates with the amount of aerosols around the robot discussing its meaning and possible application.

Paper Citation

in Harvard Style

Fritsche P., Kueppers S., Briese G. and Wagner B. (2016). Radar and LiDAR Sensorfusion in Low Visibility Environments . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 30-36. DOI: 10.5220/0005960200300036

in Bibtex Style

@conference{icinco16,
author={Paul Fritsche and Simon Kueppers and Gunnar Briese and Bernardo Wagner},
title={Radar and LiDAR Sensorfusion in Low Visibility Environments},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={30-36},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005960200300036},
isbn={978-989-758-198-4},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Radar and LiDAR Sensorfusion in Low Visibility Environments
SN - 978-989-758-198-4
AU - Fritsche P.
AU - Kueppers S.
AU - Briese G.
AU - Wagner B.
PY - 2016
SP - 30
EP - 36
DO - 10.5220/0005960200300036