How to collect fused data of Radar(AWR1642) and Lidar(Intel L515) using matlab

Hi,

I want to collect fused data of radar and lidar for sensor fusion application using matlab Like this format

(since I'm undergraduate student I don't have that much idea on collecting fused data)

Answer 1

[Harsh]

Hi Dayananda,

As per my understanding, one need to collect Lidar and Radar data separately and then using the mentioned extended kalman filter or any other approach both data can be fused together. The link attached in your query also shows Radar and Lidar data stored alternatively in a table. Please note that it is not the fusion of both data. The fusion of both data is demonstrated in plots of the attached link, which are generated using the "EKF.m" file.

Therefore, the query can be broken down in following three steps:

1. Collecting Radar data: Currently, MATLAB does not provide any support package for specified TI AWR1642 radar. However, you can follow documentation provided by TI to use this particular radar sensor with MATLAB. I hope using that information you should be able to collect the Radar data.
2. Collecting Lidar data: The support for Intel L515 sensor is also not available. However, you may search online and leverage the documentation provided by Intel to use this particular sensor with MATLAB. Further, the following Lidar sensor are support by Mathworks. I am also attaching the link below for your reference. https://in.mathworks.com/matlabcentral/fileexchange/106705-lidar-toolboxtm-support-package-for-ouster-lidar-sensors https://in.mathworks.com/hardware-support/velodyne-lidar.html?s_tid=srchtitle
3. Fusing the data: Finally, the collected data from both the sensors can be fused together using any suitable approach. For instance, the extended kalman filter that you have attached in your query.