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Authors: Paul Fritsche 1 ; Simon Kueppers 2 ; Gunnar Briese 2 and Bernardo Wagner 1

Affiliations: 1 Institute of Systems Engineering - Real Time Systems Group and Leibniz Universität Hannover, Germany ; 2 Fraunhofer Institute for High Frequency Physics and Radar Techniques FHR, Germany

ISBN: 978-989-758-198-4

Keyword(s): Mobile Robotics, Low Visibility Environments, FMCW-Radar, LiDAR, Sensorfusion, Smoke Detection.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Perception and Awareness ; Robotics and Automation ; Sensors Fusion ; Signal Processing, Sensors, Systems Modeling and Control

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 meanin g and possible application. (More)

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Paper citation in several formats:
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

@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},
}

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

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