NIGEL Sensor setup
NIGEL Sensor setup
Embedded Files
Sensors
Sensors
Vehicular sensor platform includes stereo optical, thermal, MEM LIDAR, two IMUs, and three GNSS receivers
Optical camera - OV2311 sensor (E-Con Sys module)
Thermal camera - FLIR Boson 640R
LIDAR - Blickfeld Cube1
IMUs
Ivensense ICM20600 - integrated in LIDAR
Honeywell HG4930
GNSS - uBlox ZED-F9P
Sensors Specification
Sensors Specification
Data acquisition
Stereo thermal and optical are hardware synchronized and disciplined with PPS signal
Data loggers and LIDAR FPGA are synchronized to UTC via local NTP and PPS
Thermal FFC is done once before each sequence
Optical exposure is manually configure from 0.1 - 40 ms depending on lighting for best performance
Sensor calibrations
Sensor calibrations
Stereo optical intrinsics and extrinsic using Kalibr
Stereo thermal intrinsics sand extrinsic using MATLAB Calibrator
Optical and IMUs extrinsics using Kalibr
IMUs noise parameters using Allan Deviation Analysis
Optical - thermal - LIDAR extrinsics using LVT2
GNSS-IMU calibration using Optitrack system
Truth generation
Truth generation
15 ES-EKF
HG4930
Three GNSS measurement and moving baseline
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