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Precise Ego-Motion Estimation with Millimeter-Wave Radar Under Diverse and Challenging Conditions
Abstract
In contrast to cameras, lidars, GPS, and proprioceptive sensors, radars are affordable and efficient systems that operate well under variable weather and lighting conditions, require no external infrastructure, and detect long-range objects. In this paper, we present a reliable and accurate radar-only motion estimation algorithm for mobile autonomous systems. Using a frequency-modulated continuous-wave (FMCW) scanning radar, we first extract landmarks with an algorithm that accounts for unwanted effects in radar returns. To estimate relative motion, we then perform scan matching by greedily adding point correspondences based on unary descriptors and pairwise compatibility scores. Our radar odometry results are robust under a variety of conditions, including those under which visual odometry and GPS/INS fail.
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Cited by
The Oxford Radar RobotCar Dataset: A Radar Extension to the Oxford RobotCar Dataset
Barnes, D., Gadd, M., Murcutt, P., Newman, P., & Posner, I. (2020) · 2020 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra40945.2020.9196884 · Cited by 429
Self-citationA Review of Visual-LiDAR Fusion based Simultaneous Localization and Mapping
Debeunne, C., & Vivet, D. (2020) · Sensors · doi:10.3390/s20072068 · Cited by 386
Robust Multimodal Vehicle Detection in Foggy Weather Using Complementary Lidar and Radar Signals
Qian, K., Zhu, S., Zhang, X., & Li, L. E. (2021) · 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) · doi:10.1109/cvpr46437.2021.00051 · Cited by 206
Metadata
- Authors
- Cen, S. H., & Newman, P.
- Venue
- 2018 IEEE International Conference on Robotics and Automation (ICRA)
- Publisher
- IEEE
- Published
- 2018-05
- Pages
- 1-8
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2890714858
- Cited by
- 214
- References
- 0
- FWCI
- 34.69
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Cen, S. H., & Newman, P. (2018). Precise Ego-Motion Estimation with Millimeter-Wave Radar Under Diverse and Challenging Conditions. 2018 IEEE International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/icra.2018.8460687
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