计算机视觉
人工智能
计算机科学
雷达
傅里叶变换
雷达成像
背景(考古学)
翻译(生物学)
数学
地理
电信
基因
信使核糖核酸
数学分析
考古
化学
生物化学
作者
Paul Checchin,Franck Gérossier,Christophe Blanc,Roland Chapuis,Laurent Trassoudaine
出处
期刊:Springer tracts in advanced robotics
日期:2010-01-01
卷期号:: 151-161
被引量:67
标识
DOI:10.1007/978-3-642-13408-1_14
摘要
This paper is concerned with the Simultaneous Localization And Mapping (SLAM) problem using data obtained from a microwave radar sensor. The radar scanner is based on Frequency Modulated Continuous Wave (FMCW) technology. In order to meet the needs of radar image analysis complexity, a trajectoryoriented EKF-SLAM technique using data from a 360. field of view radar sensor has been developed. This process makes no landmark assumptions and avoids the data association problem. The method of egomotion estimation makes use of the Fourier-Mellin Transform for registering radar images in a sequence, from which the rotation and translation of the sensor motion can be estimated. In the context of the scan-matching SLAM, the use of the Fourier-Mellin Transform is original and provides an accurate and efficient way of computing the rigid transformation between consecutive scans. Experimental results on real-world data are presented.
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