The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Noise Removal of FMCW Scanning Radar for Single Sensor Performance Improvement in Autonomous Driving

자율 주행에서 단일 센서 성능 향상을 위한 FMCW 스캐닝 레이더 노이즈 제거

  • Wooseong Yang (Mechanical Engineering, Seoul National University) ;
  • Myung-Hwan Jeon (Institute of Advanced Machines and Design, Seoul National University) ;
  • Ayoung Kim (Mechanical Engineering, Seoul National University)
  • Received : 2023.05.25
  • Accepted : 2023.07.05
  • Published : 2023.08.31
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Abstract

FMCW (Frequency Modulated Continuous Wave) radar system is widely used in autonomous driving and navigation applications due to its high detection capabilities independent of weather conditions and environments. However, radar signals can be easily contaminated by various noises such as speckle noise, receiver saturation, and multipath reflection, which can worsen sensing performance. To handle this problem, we propose a learning-free noise removal technique for radar to enhance detection performance. The proposed method leverages adaptive thresholding to remove speckle noise and receiver saturation, and wavelet transform to detect multipath reflection. After noise removal, the radar image is reconstructed with the geometric structure of the surrounding environments. We verify that our method effectively eliminated noise and can be applied to autonomous driving by improving the accuracy of odometry and place recognition.

Keywords

Acknowledgement

This study is a part of the research project, "Development of core machinery technologies for autonomous operation and manufacturing (NK242H)", which has been supported by a grant from National Research Council of Science & Technology under the R&D Program of Ministry of Science, ICT and Future Planning

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