This paper aims to develop an automatic miscalibration detection and correction framework to maintain accurate calibration of LiDAR and camera for autonomous vehicle after the sensor drift.First,a monitoring algorithm...This paper aims to develop an automatic miscalibration detection and correction framework to maintain accurate calibration of LiDAR and camera for autonomous vehicle after the sensor drift.First,a monitoring algorithm that can continuously detect the miscalibration in each frame is designed,leveraging the rotational motion each individual sensor observes.Then,as sensor drift occurs,the projection constraints between visual feature points and LiDAR 3-D points are used to compute the scaled camera motion,which is further utilized to align the drifted LiDAR scan with the camera image.Finally,the proposed method is sufficiently compared with two representative approaches in the online experiments with varying levels of random drift,then the method is further extended to the offline calibration experiment and is demonstrated by a comparison with two existing benchmark methods.展开更多
Optical gyros and star sensors are primary measurement hardware in an attitude control system with high accuracy. The drifts of the optical gyros, however, make an unfavorable impact on the accuracy of the attitude c...Optical gyros and star sensors are primary measurement hardware in an attitude control system with high accuracy. The drifts of the optical gyros, however, make an unfavorable impact on the accuracy of the attitude control system. In order for compensati展开更多
Piezoresistive pressure sensors based on silicon have a large thermal drift because of their high sensitivity to temperature. The study of the effect of the temperature and doping level on characteristics of these sen...Piezoresistive pressure sensors based on silicon have a large thermal drift because of their high sensitivity to temperature. The study of the effect of the temperature and doping level on characteristics of these sensors is essential to define the parameters that cause the output characteristics drift. In this study, we adopted the model of Kanda to determine the effect of the temperature and of doping level on the piezoresistivity of the Silicon monocrystal. This is to represent P(N,T) and for p-type silicon as functions of impurity concentration for different temperatures. This allows us to see the effect of temperature and doping concentration on the output characteristics of the sensor. Finally, we study the geometric influence parameters and doping on these characteristics to optimize the sensor performance. This study allows us to predict the sensor behavior against temperature and to minimize this effect by optimizing the doping concentration.展开更多
The extended gate field effect transistor (EGFET)has many advantages such as the fabrication is easy,low cost, easy to operate etc.The EGFET was applied to biosensor in recent years.In this study,the tin oxide (SnO_2)...The extended gate field effect transistor (EGFET)has many advantages such as the fabrication is easy,low cost, easy to operate etc.The EGFET was applied to biosensor in recent years.In this study,the tin oxide (SnO_2)pH sensitive membrane was deposited on ITO glass,when the surface voltage which pH membrane changes,the gate voltage and current channel of MOSFET will change immediately to detect concentration of the glucose sensor.In this study we have devoted to research about the calibration of the circuit measurement for the glucose sensor,and study the calibration system of the drift and hysteresis.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.52025121,52394263)National Key R&D Plan of China(Grant No.2023YFD2000301).
文摘This paper aims to develop an automatic miscalibration detection and correction framework to maintain accurate calibration of LiDAR and camera for autonomous vehicle after the sensor drift.First,a monitoring algorithm that can continuously detect the miscalibration in each frame is designed,leveraging the rotational motion each individual sensor observes.Then,as sensor drift occurs,the projection constraints between visual feature points and LiDAR 3-D points are used to compute the scaled camera motion,which is further utilized to align the drifted LiDAR scan with the camera image.Finally,the proposed method is sufficiently compared with two representative approaches in the online experiments with varying levels of random drift,then the method is further extended to the offline calibration experiment and is demonstrated by a comparison with two existing benchmark methods.
文摘Optical gyros and star sensors are primary measurement hardware in an attitude control system with high accuracy. The drifts of the optical gyros, however, make an unfavorable impact on the accuracy of the attitude control system. In order for compensati
文摘Piezoresistive pressure sensors based on silicon have a large thermal drift because of their high sensitivity to temperature. The study of the effect of the temperature and doping level on characteristics of these sensors is essential to define the parameters that cause the output characteristics drift. In this study, we adopted the model of Kanda to determine the effect of the temperature and of doping level on the piezoresistivity of the Silicon monocrystal. This is to represent P(N,T) and for p-type silicon as functions of impurity concentration for different temperatures. This allows us to see the effect of temperature and doping concentration on the output characteristics of the sensor. Finally, we study the geometric influence parameters and doping on these characteristics to optimize the sensor performance. This study allows us to predict the sensor behavior against temperature and to minimize this effect by optimizing the doping concentration.
文摘The extended gate field effect transistor (EGFET)has many advantages such as the fabrication is easy,low cost, easy to operate etc.The EGFET was applied to biosensor in recent years.In this study,the tin oxide (SnO_2)pH sensitive membrane was deposited on ITO glass,when the surface voltage which pH membrane changes,the gate voltage and current channel of MOSFET will change immediately to detect concentration of the glucose sensor.In this study we have devoted to research about the calibration of the circuit measurement for the glucose sensor,and study the calibration system of the drift and hysteresis.
