This work presents a real-time pose graph based Simultaneous Localization and Mapping (SLAM) system for automotive Radar. The algorithm constructs a map from Radar detections using the Iterative Closest Point (ICP) method to match consecutive scans obtained from a single, front-facing Radar sensor. The algorithm is evaluated on a range of realworld datasets and shows mean translational errors as low as 0.62 m and demonstrates robustness on long tracks. Using a single Radar, our proposed system achieves state-of-the-art performance when compared to other Radar-based SLAM algorithms that use multiple, higher-resolution Radars.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Real-Time Pose Graph SLAM based on Radar


    Beteiligte:
    Holder, Martin (Autor:in) / Hellwig, Sven (Autor:in) / Winner, Hermann (Autor:in)


    Erscheinungsdatum :

    2019-06-01


    Format / Umfang :

    3054887 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    ExplORB-SLAM: Active Visual SLAM Exploiting the Pose-graph Topology

    Placed, Julio A. / Rodríguez, Juan J. Gómez / Tardós, Juan D. et al. | Springer Verlag | 2022


    Graph Matching Pose SLAM based on Road Network Information

    He, Lei / Yang, Ming / Li, Hao et al. | IEEE | 2019


    Landmark based radar SLAM using graph optimization

    Schuster, F. / Keller, C. G. / Rapp, M. et al. | IEEE | 2016


    Active Pose SLAM

    Valencia, Rafael / Andrade-Cetto, Juan | Springer Verlag | 2017


    Information-based compact Pose SLAM

    Ila, Viorela / Porta, Josep M. / Andrade-Cetto, Juan | BASE | 2010

    Freier Zugriff