Extrinsic calibration of a ground penetrating radar

Chieh Chou, Shu Hao Yeh, Jingang Yi, Dezhen Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

To develop a multi-modal in-traffic bridge deck scanning device, we need to calibrate extrinsic parameters of a ground penetrating radar (GPR). GPR output is in a non-Euclidean coordinate system because it only detects underground objects relative to road surface. When road surface is non-planar, its output cannot be trivially mapped to a 3D Cartesian system which is necessary for sensor fusion. We design an artificial planar bridge as the calibration device to ensure that the GPR output maintains Euclidean coordinate property during the calibration process. The bridge also allows us to adjust metal balls as calibration objects. We model the GPR imaging process and extract readings from hyperbolas generated from metal balls. We employ the maximum likelihood estimator to estimate the rigid body transformation and provide the closed form error analysis. We have conducted physical experiments to validate our calibration process. Results show that the calibrated model has an average error of 9.77 mm for testing samples. This is satisfying because the GPR signal wave length is 18.8 cm.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
PublisherIEEE Computer Society
Pages1326-1331
Number of pages6
ISBN (Electronic)9781509024094
DOIs
StatePublished - Nov 14 2016
Event2016 IEEE International Conference on Automation Science and Engineering, CASE 2016 - Fort Worth, United States
Duration: Aug 21 2016Aug 24 2016

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2016-November
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Other

Other2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
CountryUnited States
CityFort Worth
Period8/21/168/24/16

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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