Accurate and robust ego-motion estimation is critical for aiding autonomous vehicle localization in environments devoid of map landmarks or accurate GNSS measurements. RADAR measurements provide unique capabilities for ego-motion estimation while also posing unique challenges. This paper presents the novel real-time RADAR-based ego-motion estimation algorithm, RADARODO (RADAR Odometry). RADARODO is differentiated from similar techniques by two novel attributes. First, it decouples sensor translational and rotational motion by estimating them from Doppler and spatial data, respectively. Secondly, it directly analyzes RADAR images to estimate rotational motion via correspondence-free non-linear optimization. Unlike other methods, RADARODO estimates ego-motion along with its predicted uncertainty from a single RADAR sensor without depending on a lever-arm offset or the zero side-slip assumption. The real-world results demonstrate accurate ego-motion estimates that are particularly suited for integration within a “tightly-coupled” sensor fusion framework.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    RADARODO: Ego-Motion Estimation From Doppler and Spatial Data in RADAR Images


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2020-09-01


    Format / Umfang :

    3115829 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Instantaneous ego-motion estimation using Doppler radar

    Kellner, Dominik / Barjenbruch, Michael / Klappstein, Jens et al. | IEEE | 2013


    Storm Tracking in Doppler Radar Images

    Krezeski, D. / Mercer, R. E. / Barron, J. L. et al. | British Library Conference Proceedings | 1994


    INSTANTANEOUS FULL-MOTION ESTIMATION OF ARBITRARY OBJECTS USING DUAL DOPPLER RADAR

    Kellner, D. / Barjenbruch, M. / Klappstein, J. et al. | British Library Conference Proceedings | 2014


    Joint Spatial and Doppler-Based Ego-Motion Estimation for Automotive Radars

    Barjenbruch, Michael / Kellner, Dominik / Dietmayer, Klaus et al. | British Library Conference Proceedings | 2015


    Joint spatial- and Doppler-based ego-motion estimation for automotive radars

    Barjenbruch, Michael / Kellner, Dominik / Klappstein, Jens et al. | IEEE | 2015