Related papers: Doppler-aware Odometry from FMCW Scanning Radar
In this paper, we propose a radar odometry structure that directly utilizes radar velocity measurements for dead reckoning while maintaining its ability to update estimations within the Kalman filter framework. Specifically, we employ the…
4D millimeter-wave (mmWave) radars are increasingly used in robotics, as they offer robustness against adverse environmental conditions. Besides the usual XYZ position, they provide Doppler velocity measurements as well as Radar Cross…
mmWave radars have recently gathered significant attention as a means to track human movement within indoor environments. Widely adopted Kalman filter tracking methods experience performance degradation when the underlying movement is…
This paper considers object detection and 3D estimation using an FMCW radar. The state-of-the-art deep learning framework is employed instead of using traditional signal processing. In preparing the radar training data, the ground truth of…
Autonomous vehicles and robots rely on accurate odometry estimation in GPS-denied environments. While LiDARs and cameras struggle under extreme weather, 4D mmWave radar emerges as a robust alternative with all-weather operability and…
Due to its light and weather-independent sensing, millimeter-wave (MMW) radar is essential in smart environments. Intelligent vehicle systems and industry-grade MMW radars have integrated such capabilities. Industry-grade MMW radars are…
Rotating FMCW radar odometry methods often assume flat ground conditions. While this assumption is sufficient in many scenarios, including urban environments or flat mining setups, the highly dynamic terrain of subarctic environments poses…
In automotive applications, frequency modulated continuous wave (FMCW) radar is an established technology to determine the distance, velocity and angle of objects in the vicinity of the vehicle. The quality of predictions might be seriously…
The recently proposed orthogonal time frequency space (OTFS) modulation multiplexes data symbols in the delay-Doppler (DD) domain. Since the range and velocity, which can be derived from the delay and Doppler shifts, are the parameters of…
Frequency-modulated continuous wave (FMCW) radar with inter-chirp coding produces high side-lobes in the Doppler and range dimensions of the radar's ambiguity function. The high side-lobes may cause miss-detection due to masking between…
Radar odometry has been gaining attention in the last decade. It stands as one of the best solutions for robotic state estimation in unfavorable conditions; conditions where other interoceptive and exteroceptive sensors may fall short.…
We survey the current state of millimeterwave (mmWave) radar applications in robotics with a focus on unique capabilities, and discuss future opportunities based on the state of the art. Frequency Modulated Continuous Wave (FMCW) mmWave…
Radar offers the advantage of providing additional physical properties related to observed objects. In this study, we design a physical-enhanced radar-inertial odometry system that capitalizes on the Doppler velocities and radar…
mmWave FMCW radar has attracted huge amount of research interest for human-centered applications in recent years, such as human gesture/activity recognition. Most existing pipelines are built upon conventional Discrete Fourier Transform…
In this work, we propose a novel pipeline for face recognition and out-of-distribution (OOD) detection using short-range FMCW radar. The proposed system utilizes Range-Doppler and micro Range-Doppler Images. The architecture features a…
In this work, we propose the orthogonal delay-Doppler (DD) division multiplexing (ODDM) modulation with frequency modulated continuous wave (FMCW) (ODDM-FMCW) waveform to enable integrated sensing and communication (ISAC) with a low…
This paper introduces a lightweight gesture recognition system based on 60 GHz frequency modulated continuous wave (FMCW) radar. We show that gestures can be characterized efficiently by a set of five features, and propose a slim radar…
This paper presents a novel signal processing technique, coined grid hopping, as well as an active multistatic Frequency-Modulated Continuous Wave (FMCW) radar system designed to evaluate its performance. The design of grid hopping is…
We present a novel internal calibration framework for Millimeter- Wave (mmWave) Frequency-Modulated Continuous-Wave (FMCW) radars to ensure robust performance under internal temperature variations, tailored for deployment in dense wireless…
Radar-based human activity recognition (HAR) is a pivotal research area for applications requiring non-invasive monitoring. However, the acquisition of diverse and high-fidelity radar datasets for robust algorithm development remains a…