Despite an emerging interest in MIMO radar, the utilization of its complementary strengths in combination with optical sensors has so far been limited to far-field applications, due to the challenges that arise from mutual sensor calibration in the near field. In fact, most related approaches in the autonomous industry propose target-based calibration methods using corner reflectors that have proven to be unsuitable for the near field. In contrast, we propose a novel, joint calibration approach for optical RGB-D sensors and MIMO radars that is designed to operate in the radar's near-field range, within decimeters from the sensors. Our pipeline consists of a bespoke calibration target, allowing for automatic target detection and localization, followed by the spatial calibration of the two sensor coordinate systems through target registration. We validate our approach using two different depth sensing technologies from the optical domain. The experiments show the efficiency and accuracy of our calibration for various target displacements, as well as its robustness of our localization in terms of signal ambiguities.

我们提出了一种用于MIMO雷达和光学RGB-D传感器的新型联合校准方法，可以在雷达的近场范围内进行操作，通过目标配准实现两个传感器坐标系统的空间校准，实验证明了我们的方法在各种目标位移下的校准效率和准确性，以及在信号模糊方面的定位鲁棒性。

自动近场 MIMO 雷达相对光学传感器的空间标定