August 2019
tl;dr: Use IMU for online calibration to get real time pose. Use radar for GT
The paper is a short technical report.
- The main idea is to estimate distance based on the bottom line of the vehicle bbox.
- For this, accurate and online calibrated roll and pitch are needed (yaw will not chance the row position of the car in the image).
- radar is used to acquire GT.
- The method performs really well for vehicles up to 30 m (with errors of up to 0.5 m).
- Camera, radar and IMU run at 20 Hz.