The motion of a car has a vast impact on the relative measurements of all environmental sensors. Consequently, the precise knowledge of the ego-motion of a sensor equipped car is important for higher level signal processing like mapping or the estimation of the target parameters. This can be achieved by multiple simple radar sensors with a single measurement. The range and the velocity measurements conducted by multiple sensors that are observing a common field of view are jointly processed and filtered for stationary targets. This dataset is used to determine the velocity and the yaw rate of the vehicle in the x- and y-plane. An advantage of the proposed approach is the simplicity of the sensors which do not need the capability of angle estimation in the azimuth plane, while still providing comparable results. In addition, this approach works with a minimum number of two sensors.
{"title":"Ego-Motion Estimation using Distributed Single-Channel Radar Sensors","authors":"Maximilian Steiner, Omar Hammouda, C. Waldschmidt","doi":"10.18725/OPARU-15018","DOIUrl":"https://doi.org/10.18725/OPARU-15018","url":null,"abstract":"The motion of a car has a vast impact on the relative measurements of all environmental sensors. Consequently, the precise knowledge of the ego-motion of a sensor equipped car is important for higher level signal processing like mapping or the estimation of the target parameters. This can be achieved by multiple simple radar sensors with a single measurement. The range and the velocity measurements conducted by multiple sensors that are observing a common field of view are jointly processed and filtered for stationary targets. This dataset is used to determine the velocity and the yaw rate of the vehicle in the x- and y-plane. An advantage of the proposed approach is the simplicity of the sensors which do not need the capability of angle estimation in the azimuth plane, while still providing comparable results. In addition, this approach works with a minimum number of two sensors.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127235312","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-08-23DOI: 10.1109/ICMIM.2018.8443503
Markus Schartel, Ralf Burr, W. Mayer, Nando Docci, C. Waldschmidt
A novel approach for anti-personnel landmine detection using an unmanned aerial vehicle (UAV) in combination with a ground penetrating synthetic aperture radar (GPSAR) is presented. The objective of the system is to accelerate the process of land release in humanitarian demining. Suspicious objects shall be detected by the radar and marked for further investigations using different sensor principles.The ground penetrating radar (GPR) module consists of a 1 GHz to 4 GHz side-looking frequency modulated continuous wave (FMCW) radar, a radar and lidar altimeter, and a real time kinematic global navigation satellite system (RTK GNSS). The image processing is done offline using a back-projection algorithm. In the theoretical part of this paper the system partitioning, the sensor module, and the position accuracy requirements are briefly described. In the experimental part of this paper synthetic aperture radar (SAR) measurements are presented.
{"title":"UAV-Based Ground Penetrating Synthetic Aperture Radar","authors":"Markus Schartel, Ralf Burr, W. Mayer, Nando Docci, C. Waldschmidt","doi":"10.1109/ICMIM.2018.8443503","DOIUrl":"https://doi.org/10.1109/ICMIM.2018.8443503","url":null,"abstract":"A novel approach for anti-personnel landmine detection using an unmanned aerial vehicle (UAV) in combination with a ground penetrating synthetic aperture radar (GPSAR) is presented. The objective of the system is to accelerate the process of land release in humanitarian demining. Suspicious objects shall be detected by the radar and marked for further investigations using different sensor principles.The ground penetrating radar (GPR) module consists of a 1 GHz to 4 GHz side-looking frequency modulated continuous wave (FMCW) radar, a radar and lidar altimeter, and a real time kinematic global navigation satellite system (RTK GNSS). The image processing is done offline using a back-projection algorithm. In the theoretical part of this paper the system partitioning, the sensor module, and the position accuracy requirements are briefly described. In the experimental part of this paper synthetic aperture radar (SAR) measurements are presented.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130677072","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-08-23DOI: 10.1109/ICMIM.2018.8443526
Ralf Burr, Markus Schartel, Patrick Schmidt, W. Mayer, T. Walter, C. Waldschmidt
Ground Penetrating Radar (GPR) is one of the tools supporting mine detection. In this contribution a wide-band frequency modulated continuous wave (FMCW) GPR from 1 GHz to 4 GHz in a bistatic configuration is presented. This radar is designed so that it can be mounted on an unmanned aircraft vehicle (UAV). A compromise between weight, size, power consumption and penetration depth is found. The realization of the radar by means of frequency band splitting is presented. The merging of the two frequency bands is evaluated by measurements. The radar has been successfully integrated on a UAV and first measurements over a test field from the flight are presented.
{"title":"Design and Implementation of a FMCW GPR for UAV-based Mine Detection","authors":"Ralf Burr, Markus Schartel, Patrick Schmidt, W. Mayer, T. Walter, C. Waldschmidt","doi":"10.1109/ICMIM.2018.8443526","DOIUrl":"https://doi.org/10.1109/ICMIM.2018.8443526","url":null,"abstract":"Ground Penetrating Radar (GPR) is one of the tools supporting mine detection. In this contribution a wide-band frequency modulated continuous wave (FMCW) GPR from 1 GHz to 4 GHz in a bistatic configuration is presented. This radar is designed so that it can be mounted on an unmanned aircraft vehicle (UAV). A compromise between weight, size, power consumption and penetration depth is found. The realization of the radar by means of frequency band splitting is presented. The merging of the two frequency bands is evaluated by measurements. The radar has been successfully integrated on a UAV and first measurements over a test field from the flight are presented.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129870841","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-08-23DOI: 10.1109/ICMIM.2018.8443553
J. Schlichenmaier, Leping Yan, Martin Stolz, C. Waldschmidt
Future high-resolution radars enable new functionalities in advanced driver assistance systems, relying on fast and reliable extraction of properties of vehicles on the road. A critical property for the prediction of trajectories and the assessment of potentially dangerous situations is that of the actual motion - the velocity vector and yaw rate - of observed objects. In this paper, an approach to distinguish linear from non-linear motions as well as estimating the yaw rate using only a single radar sensor is presented and evaluated via measurements.
{"title":"Instantaneous Actual Motion Estimation with a Single High-Resolution Radar Sensor","authors":"J. Schlichenmaier, Leping Yan, Martin Stolz, C. Waldschmidt","doi":"10.1109/ICMIM.2018.8443553","DOIUrl":"https://doi.org/10.1109/ICMIM.2018.8443553","url":null,"abstract":"Future high-resolution radars enable new functionalities in advanced driver assistance systems, relying on fast and reliable extraction of properties of vehicles on the road. A critical property for the prediction of trajectories and the assessment of potentially dangerous situations is that of the actual motion - the velocity vector and yaw rate - of observed objects. In this paper, an approach to distinguish linear from non-linear motions as well as estimating the yaw rate using only a single radar sensor is presented and evaluated via measurements.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121441604","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-05-09DOI: 10.1109/ICMIM.2018.8443559
Karim Ishak, N. Appenrodt, J. Dickmann, C. Waldschmidt
Radar sensors are utilized for detection and classification purposes in various applications. In order to use deep learning techniques, lots of training data are required. Accordingly, lots of measurements and labelling tasks are then needed. For the purpose of pre-training or examining first ideas before bringing them into reality, synthetic radar data are of great help. In this paper, a workflow for automatically generating radar data of human gestures is presented, starting with creating the desired animations until synthesizing radar data and getting the final required dataset. The dataset could then be used for training deep learning models. A classification scenario applying this workflow is also introduced.
{"title":"Human Motion Training Data Generation for Radar Based Deep Learning Applications","authors":"Karim Ishak, N. Appenrodt, J. Dickmann, C. Waldschmidt","doi":"10.1109/ICMIM.2018.8443559","DOIUrl":"https://doi.org/10.1109/ICMIM.2018.8443559","url":null,"abstract":"Radar sensors are utilized for detection and classification purposes in various applications. In order to use deep learning techniques, lots of training data are required. Accordingly, lots of measurements and labelling tasks are then needed. For the purpose of pre-training or examining first ideas before bringing them into reality, synthetic radar data are of great help. In this paper, a workflow for automatically generating radar data of human gestures is presented, starting with creating the desired animations until synthesizing radar data and getting the final required dataset. The dataset could then be used for training deep learning models. A classification scenario applying this workflow is also introduced.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129195995","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Fabian Roos, Jonathan Bechter, N. Appenrodt, J. Dickmann, C. Waldschmidt
Current automotive radar sensors enhance the angular resolution using a multiple-input multiple-output approach. The often applied time-division multiplexing scheme has the drawback of a reduced unambiguous Doppler velocity proportional to the number of transmitters. In this paper, a signal processing scheme is proposed to regain the same unambiguous Doppler as in the single-input multiple-output case with only one transmit antenna. Simulation and measurement results are shown to prove that the signal processing leads to an enhanced unambiguous Doppler velocity estimation.
{"title":"Enhancement of Doppler Unambiguity for Chirp-Sequence Modulated TDM-MIMO Radars","authors":"Fabian Roos, Jonathan Bechter, N. Appenrodt, J. Dickmann, C. Waldschmidt","doi":"10.18725/OPARU-6516","DOIUrl":"https://doi.org/10.18725/OPARU-6516","url":null,"abstract":"Current automotive radar sensors enhance the angular resolution using a multiple-input multiple-output approach. The often applied time-division multiplexing scheme has the drawback of a reduced unambiguous Doppler velocity proportional to the number of transmitters. In this paper, a signal processing scheme is proposed to regain the same unambiguous Doppler as in the single-input multiple-output case with only one transmit antenna. Simulation and measurement results are shown to prove that the signal processing leads to an enhanced unambiguous Doppler velocity estimation.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130367996","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-16DOI: 10.1109/ICMIM.2018.8443493
Michael Maier, V. Makkapati, M. Horn
In a simulation for stimulation of automotive radar an analytic connection is established between radar cross section (RCS) and SBR-Phong based computations. Phong is adapted and normalized for this purpose. RCS values are computed for a primitive- (sphere) and a realistic geometry (car) using the adapted Phong approach, and are compared against computations from a commercial field simulation software.
{"title":"Adapting Phong into a Simulation for Stimulation of Automotive Radar Sensors","authors":"Michael Maier, V. Makkapati, M. Horn","doi":"10.1109/ICMIM.2018.8443493","DOIUrl":"https://doi.org/10.1109/ICMIM.2018.8443493","url":null,"abstract":"In a simulation for stimulation of automotive radar an analytic connection is established between radar cross section (RCS) and SBR-Phong based computations. Phong is adapted and normalized for this purpose. RCS values are computed for a primitive- (sphere) and a realistic geometry (car) using the adapted Phong approach, and are compared against computations from a commercial field simulation software.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131015209","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-15DOI: 10.1109/ICMIM.2018.8443497
Ankith Manjunath, Y. Liu, B. Henriques, A. Engstle
Radar sensor has been an integral part of safety critical applications in automotive industry owing to its weather and lighting independence. The advances in radar hardware technology have made it possible to reliably detect objects using radar. Highly accurate radar sensors are able to give multiple radar detections per object. This work presents a postprocessing architecture, which is used to cluster and track multiple detections from one object in practical multiple object scenarios. Furthermore, the framework is tested and validated with various driving maneuvers and results are evaluated.
{"title":"Radar Based Object Detection and Tracking for Autonomous Driving","authors":"Ankith Manjunath, Y. Liu, B. Henriques, A. Engstle","doi":"10.1109/ICMIM.2018.8443497","DOIUrl":"https://doi.org/10.1109/ICMIM.2018.8443497","url":null,"abstract":"Radar sensor has been an integral part of safety critical applications in automotive industry owing to its weather and lighting independence. The advances in radar hardware technology have made it possible to reliably detect objects using radar. Highly accurate radar sensors are able to give multiple radar detections per object. This work presents a postprocessing architecture, which is used to cluster and track multiple detections from one object in practical multiple object scenarios. Furthermore, the framework is tested and validated with various driving maneuvers and results are evaluated.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116797631","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-15DOI: 10.1109/ICMIM.2018.8443498
A. Schwind, R. Stephan, Matthias A. Hein Thuringian
Automotive radar systems become more and more indispensable for advanced driving assistance systems. Beside existing monostatic radar, bistatic radar sensing, like passive coherent location, provide additional options to augment the radar visibility of vulnerable road users. Assured by the planned coexistence of different wireless standards like ITS-G5 and LTE-V, multiple new illuminators-of-opportunity can be applied to increase awareness and safety in complex traffic scenarios. Regarding the bistatic radar cross section of vulnerable road users, the frequency range of interest extends from about 450 MHz to 6 GHz. This paper provides simulation and measurement approaches of bistatic radar cross sections of vulnerable road users like bicycles or pedestrians. Electromagnetic simulations and bistatic measurements of a bicycle are presented and compared. The results show reasonable agreement between simulation and measurement and provide new insight into the wireless environment in a frequency range rarely considered for radar sensing until to-date.
{"title":"Simulations and Measurements of the Bistatic Radar Cross Section of Vulnerable Road Users between 2 GHz and 6 GHz","authors":"A. Schwind, R. Stephan, Matthias A. Hein Thuringian","doi":"10.1109/ICMIM.2018.8443498","DOIUrl":"https://doi.org/10.1109/ICMIM.2018.8443498","url":null,"abstract":"Automotive radar systems become more and more indispensable for advanced driving assistance systems. Beside existing monostatic radar, bistatic radar sensing, like passive coherent location, provide additional options to augment the radar visibility of vulnerable road users. Assured by the planned coexistence of different wireless standards like ITS-G5 and LTE-V, multiple new illuminators-of-opportunity can be applied to increase awareness and safety in complex traffic scenarios. Regarding the bistatic radar cross section of vulnerable road users, the frequency range of interest extends from about 450 MHz to 6 GHz. This paper provides simulation and measurement approaches of bistatic radar cross sections of vulnerable road users like bicycles or pedestrians. Electromagnetic simulations and bistatic measurements of a bicycle are presented and compared. The results show reasonable agreement between simulation and measurement and provide new insight into the wireless environment in a frequency range rarely considered for radar sensing until to-date.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130669953","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-15DOI: 10.1109/ICMIM.2018.8443535
Frank Sickinger, C. Sturm, Libor Janda, O. Stejskal, M. Vossiek
An automotive radar sensor for cocoon functions or automated parking requires very small dimensions to access new mounting positions like B-pillar and side skirts. To minimize the dimensions of radar sensors, new concepts are necessary. A new system approach for radar sensors is presented. The new radar sensor system is divided in two major units. The sensor unit consists of a small serializer board and Low Temperature Cofired Ceramic (LTCC) miniature frontend. The external radar Electrical Control Unit (ECU) provides the signal processing performance and the power supply for the sensor unit. For the automotive radar band (76–81 GHz), RX- and TX antennas have been simulated, manufactured and the radiation pattern has been measured and a full prototype has been built.
{"title":"Automotive Satellite Radar Sensor System based on an LTCC Miniature Frontend","authors":"Frank Sickinger, C. Sturm, Libor Janda, O. Stejskal, M. Vossiek","doi":"10.1109/ICMIM.2018.8443535","DOIUrl":"https://doi.org/10.1109/ICMIM.2018.8443535","url":null,"abstract":"An automotive radar sensor for cocoon functions or automated parking requires very small dimensions to access new mounting positions like B-pillar and side skirts. To minimize the dimensions of radar sensors, new concepts are necessary. A new system approach for radar sensors is presented. The new radar sensor system is divided in two major units. The sensor unit consists of a small serializer board and Low Temperature Cofired Ceramic (LTCC) miniature frontend. The external radar Electrical Control Unit (ECU) provides the signal processing performance and the power supply for the sensor unit. For the automotive radar band (76–81 GHz), RX- and TX antennas have been simulated, manufactured and the radiation pattern has been measured and a full prototype has been built.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132265937","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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