Extending Reliability of mmWave Radar Tracking and Detection via Fusion With Camera

In this paper, a new radar-camera fusion system is presented. The fusion system takes into consideration the error bounds of the two different coordinate systems from the heterogeneous sensors, and further a new fusion-extended Kalman filter is utilized to adapt to the heterogeneous sensors. Real-world application considerations such as asynchronous sensors, multi-target tracking and association are also studied and illustrated in this paper. Experimental results demonstrated that the proposed fusion system can realize a range accuracy of 0.29m with an angular accuracy of 0.013rad in real-time. Therefore, the proposed fusion system is effective, reliable and computationally efficient for real-time kinematic fusion applications.Open access journalThis item from the UA Faculty Publications collection is made available by the University of Arizona with support from the University of Arizona Libraries. If you have questions, please contact us at repository@u.library.arizona.edu