Related papers: Doppler-aware Odometry from FMCW Scanning Radar
A Doppler radar is a device that employs the Doppler effect to estimate the radial velocity of a moving target at a distance. Traditional radars are based on a classical description of the electromagnetic radiation, but in principle their…
Recently, there has been growing interest and effort in developing high-speed high-precision 3D imaging technologies for a wide range of industrial, automotive and biomedical applications. Optical frequency-modulated continuous wave (FMCW)…
Teach and Repeat (T&R) topometric navigation enables robots to autonomously repeat previously traversed paths without relying on GPS, making it well suited for operations in GPS-denied environments such as underground mines and lunar…
We consider the estimation of three-dimensional (3D) radar parameters, namely, bearing or angle-of-arrival (AoA), delay or range, and Doppler shift velocity, under a mono-static multiple-input multiple-output (MIMO) joint communications and…
In this paper, we present a 2D target localization method using two low cost and compact Mellimeter Wave Frequency Modulated Continuous Wave (MMW-FMCW) radars. To create a 2D map we exploit the bilateration method followed by a multi-target…
Displaced automotive sensor imaging exploits joint processing of the data acquired from multiple radar units, each of which may have limited individual resources, to enhance the localization accuracy. Prior works either consider perfect…
We introduce Doppler time-of-flight (D-ToF) rendering, an extension of ToF rendering for dynamic scenes, with applications in simulating D-ToF cameras. D-ToF cameras use high-frequency modulation of illumination and exposure, and measure…
The detection of multiple extended targets in complex environments using high-resolution automotive radar is considered. A data-driven approach is proposed where unlabeled synchronized lidar data is used as ground truth to train a neural…
Relocalization is a fundamental task in the field of robotics and computer vision. There is considerable work in the field of deep camera relocalization, which directly estimates poses from raw images. However, learning-based methods have…
Optical Wireless Communication (OWC) has gained significant attention due to its high-speed data transmission and throughput. Optical wireless channels are often assumed to be flat, but we evaluate frequency selective channels to consider…
This paper presents a radar odometry method that combines probabilistic trajectory estimation and deep learned features without needing groundtruth pose information. The feature network is trained unsupervised, using only the on-board radar…
Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…
Recently, deep neural networks (DNNs) have been the subject of intense research for the classification of radio frequency (RF) signals, such as synthetic aperture radar (SAR) imagery or micro-Doppler signatures. However, a fundamental…
In this paper we propose to bridge the gap between using extremely low resolution 1-bit measurements and estimating targets' parameters, such as their velocities, that exist in a continuum, i.e., by performing Off-the-Grid estimation. To…
Frequency modulated continuous wave (FMCW) radar is emerging as a trendy radar system for synthetic aperture radar (SAR). This letter proposes a novel method for the extraction of the SAR image with the FMCW radar. The proposed method can…
Loop Closure Detection (LCD) is an essential task in robotics and computer vision, serving as a fundamental component for various applications across diverse domains. These applications encompass object recognition, image retrieval, and…
Future wireless communication systems must simultaneously address multiple challenges to ensure accurate data detection, deliver high Quality of Service (QoS), adding enable a high data transmission with low system design. Additionally,…
Off-grid targets whose Doppler (or angle) does not lie on the discrete processing grid can severely degrade classical normalized matched-filter (NMF) detectors: even at high SNR, the detection probability may saturate at operationally…
Dynamic target detection using FMCW waveform is challenging in the presence of interference for different radar applications. Degradation in SNR is irreparable and interference is difficult to mitigate in time and frequency domain. In this…
A new Doppler radar initial orbit determination algorithm with embedded uncertainty quantification capabilities is presented. The method is based on a combination of Gauss' and Lambert's solvers. The whole process is carried out in the…