Robust indoor ego-motion estimation has attracted significant interest in the last decades due to the fastgrowing demand for location-based services in indoor environments. Among various solutions, frequency-modulatedcontinuo us-wave (FMCW) radar sensors in millimeter-wave (MMWave) spectrum are gaining more prominence due to their intrinsic advantages such as penetration capability and high accuracy. Single-chip low-cost MMWave radar as an emerging technology provides an alternative and complementary solution for robust ego-motion estimation, making it feasible in resource-constrained platforms thanks to low-power consumption and easy system integration. In this paper, we introduce Milli-RIO, an MMWave radar-based solution making use of a single-chip low-cost radar and inertial measurement unit sensor to estimate six-degrees-of-freedom ego-motion of a moving radar. Detailed quantitative and qualitative evaluations prove that the proposed method achieves precisions on the order of few centimeters for indoor localization tasks.


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    Title :

    Milli-RIO: ego-motion estimation with low-cost millimetre-wave radar


    Contributors:
    Almalioglu, Y (author) / Turan, M (author) / Lu, CX (author) / Trigoni, N (author) / Markham, A (author)

    Publication date :

    2020-11-11



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



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