用低成本车载雷达实现城市与农田的高精度三维地图构建
Automotive Elevation Mapping with Interferometric Synthetic Aperture Radar
- 结合干涉合成孔径雷达与专用信号处理，提升低分辨率雷达的三维感知能力
- 在城市和农业环境中均生成高精度点云，定位误差可控
- 适合自动驾驶系统作为主传感器，计算开销低，部署便捷
雷达是低成本且普遍的车载传感器，但在到达方向分析中受限于阵列分辨率和灵敏度。合成孔径雷达（SAR）可提升雷达的方位分辨率和灵敏度。干涉合成孔径雷达（InSAR）可通过 SAR 图像中的相位变化提取高程信息。利用 InSAR，我们证明了典型低分辨率车载雷达阵列可在城市和农业环境中准确实现目标的三维定位。通过将 InSAR 与专为汽车驾驶设计的信号处理方案结合，我们在两类环境中生成了点云数据。该低计算量方法使雷达能够作为主传感器，用于复杂驾驶环境中的精细细节建模，并支持自动驾驶的感知决策。
原文摘要 · Abstract (English)
Radar is a low-cost and ubiquitous automotive sensor, but is limited by array resolution and sensitivity when performing direction of arrival analysis. Synthetic Aperture Radar (SAR) is a class of techniques to improve azimuth resolution and sensitivity for radar. Interferometric SAR (InSAR) can be used to extract elevation from the variations in phase measurements in SAR images. Utilizing InSAR we show that a typical, low-resolution radar array mounted on a vehicle can be used to accurately localize detections in 3D space for both urban and agricultural environments. We generate point clouds in each environment by combining InSAR with a signal processing scheme tailored to automotive driving. This low-compute approach allows radar to be used as a primary sensor to map fine details in complex driving environments, and be used to make autonomous perception decisions.
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