Computer Science > Robotics
arXiv:2308.10597 (cs)
[Submitted on 21 Aug 2023 (v1), last revised 14 Dec 2023 (this version, v2)]
Title:Doppler-aware Odometry from FMCW Scanning Radar
View a PDF of the paper titled Doppler-aware Odometry from FMCW Scanning Radar, by Fraser Rennie and 2 other authors
View PDFHTML (experimental)Abstract:This work explores Doppler information from a millimetre-Wave (mm-W) Frequency-Modulated Continuous-Wave (FMCW) scanning radar to make odometry estimation more robust and accurate. Firstly, doppler information is added to the scan masking process to enhance correlative scan matching. Secondly, we train a Neural Network (NN) for regressing forward velocity directly from a single radar scan; we fuse this estimate with the correlative scan matching estimate and show improved robustness to bad estimates caused by challenging environment geometries, e.g. narrow tunnels. We test our method with a novel custom dataset which is released with this work atthis https URL.
| Comments: | Accepted to ITSC 2023 |
| Subjects: | Robotics (cs.RO) |
| Cite as: | arXiv:2308.10597 [cs.RO] |
| (orarXiv:2308.10597v2 [cs.RO] for this version) | |
| https://doi.org/10.48550/arXiv.2308.10597 arXiv-issued DOI via DataCite |
Submission history
From: Daniele De Martini [view email][v1] Mon, 21 Aug 2023 09:56:23 UTC (5,213 KB)
[v2] Thu, 14 Dec 2023 14:30:56 UTC (5,160 KB)
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View a PDF of the paper titled Doppler-aware Odometry from FMCW Scanning Radar, by Fraser Rennie and 2 other authors
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