Hello,
in my project I try to scan the area with the Altos V2 Radar mounted on a drone. The radar is mounted 40 degrees on the drone facing forwards. I have noticed that when I display the recorded pointclouds that there are artefacts which ocure abouve the ground floating at around 3-5m with radial from the sensors FoV. For Example in the scenario of a 720 degree rotation at 10m heigth it would look like in the following picture.
Here the BEV:
Those artefacts ocure in bigger hights like 40m. With the angle of the Radar the distance should be fit for the selected radar profile.
Here another scan from another scene. Red highlighted are points where no object or normal noise would be. Again the points 3-4m above ground can be noticed significantly.
Even though the altos radar was developed for automotive purposes. Do you have an idea what could influence the radar to produce those artefacts?
Best,
Mike
Hi Mike,
This might be caused by angular ambiguity or grating lobes. I’ll send you a picture via message for clarification. For further investigation, we would need a rosbag, or we could set up an online meeting to look at the data together. Please feel free to send me the data or a meeting invitation by email. Thank you.
Hello, thank you for the picture. This could be a plausable cause.
Even though we use ros for managing and recording the data we directly store them to a raspberry pi directly into file during the flight and did not record the sessions with a rosbag. So unfortunately we don’t have rosbags available.
Thank you for offering suppoort. We will try in the next recording session to vary the pitch, altitude and surface type for the recording and will evaluate the aquired points. We will apply geometric filtering against the radial distance which should help in theory.
I will send you anyways the .dat file and corresponding files like the footage of a small camera to make the scene of the recording clear - if you are interested in it what we did with your radar.
Best,
Mike
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