Millimeter-Wave Radar is one promising sensor to achieve robust perception against challenging observing conditions. In this paper, we propose a Radar Inertial Odometry (RIO) pipeline utilizing a long-range 4D millimeter-wave radar for autonomous vehicle navigation. Initially, we develop a perception frontend based on radar point cloud filtering and registration to estimate the relative transformations between frames reliably. Then an optimization-based backbone is formulated, which fuses IMU data, relative poses, and point cloud velocities from radar Doppler measurements. The proposed method is extensively tested in challenging on-road environments and in-the-air environments. The results indicate that the proposed RIO can provide a reliable localization function for mobile platforms, such as automotive vehicles and Unmanned Aerial Vehicles (UAVs), in various operation conditions.
Robust Radar Inertial Odometry in Dynamic 3D Environments
2024
Article (Journal)
Electronic Resource
Unknown
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