里程计
计算机科学
计算机视觉
雷达
人工智能
雷达工程细节
连续波雷达
三维雷达
视觉里程计
雷达成像
运动估计
雷达锁定
全球定位系统
便携式雷达
遥感
移动机器人
地理
电信
机器人
作者
Sarah H. Cen,Paul Newman
标识
DOI:10.1109/icra.2018.8460687
摘要
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.
科研通智能强力驱动
Strongly Powered by AbleSci AI