Related papers: Digital Beamforming Enhanced Radar Odometry
This article describes the method CFEAR Radar odometry, submitted to a competition at the Radar in Robotics workshop, ICRA 20241. CFEAR is an efficient and accurate method for spinning 2D radar odometry that generalizes well across…
SLAM (Simultaneous Localisation and Mapping) is a crucial component for robotic systems, providing a map of an environment, the current location and previous trajectory of a robot. While 3D LiDAR SLAM has received notable improvements in…
Accurate and robust environmental perception is crucial for robot autonomous navigation. While current methods typically adopt optical sensors (e.g., camera, LiDAR) as primary sensing modalities, their susceptibility to visual occlusion…
While LiDAR and cameras are becoming ubiquitous for unmanned aerial vehicles (UAVs) but can be ineffective in challenging environments, 4D millimeter-wave (MMW) radars that can provide robust 3D ranging and Doppler velocity measurements are…
A transmitted, unknown radar signal is observed at the receiver through more than one path in additive noise. The aim is to recover the waveform of the intercepted signal and to simultaneously estimate the direction of arrival (DOA). We…
The dominating waveform in 5G is orthogonal frequency division multiplexing (OFDM). OFDM will remain a promising waveform candidate for joint communication and sensing (JCAS) in 6G since OFDM can provide excellent data transmission…
Highly automated driving functions currently often rely on a-priori knowledge from maps for planning and prediction in complex scenarios like cities. This makes map-relative localization an essential skill. In this paper, we address the…
Odometry is crucial for robot navigation, particularly in situations where global positioning methods like global positioning system (GPS) are unavailable. The main goal of odometry is to predict the robot's motion and accurately determine…
As a promising technology in beyond-5G (B5G) and 6G, dual-function radar-communication (DFRC) aims to ensure both radar sensing and communication on a single integrated platform with unified signaling schemes. To achieve accurate sensing…
The rapid evolution of wearable technologies, such as AR glasses, demands compact, energy-efficient sensors capable of high-precision measurements in dynamic environments. Traditional Frequency-Modulated Continuous Wave (FMCW) Laser…
Radar is a key component of the suite of perception sensors used for safe and reliable navigation of autonomous vehicles. Its unique capabilities include high-resolution velocity imaging, detection of agents in occlusion and over long…
Both higher efficiency and cost reduction can be gained from automating bathymetric surveying for offshore applications such as pipeline, telecommunication or power cables installation and inspection on the seabed. We present a SLAM system…
Simultaneous Localization and Mapping (SLAM) is a key component of autonomous systems operating in environments that require a consistent map for reliable localization. SLAM has been a widely studied topic for decades with most of the…
This paper presents a new detector for filtering noise from true detections in radar data, which improves the state of the art in radar odometry. Scanning Frequency-Modulated Continuous Wave (FMCW) radars can be useful for localization and…
Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…
With the rapid advancements of sensor technology and deep learning, autonomous driving systems are providing safe and efficient access to intelligent vehicles as well as intelligent transportation. Among these equipped sensors, the radar…
Unmanned and intelligent agricultural systems are crucial for enhancing agricultural efficiency and for helping mitigate the effect of labor shortage. However, unlike urban environments, agricultural fields impose distinct and unique…
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…
In radar systems, unimodular (or constant-modulus) waveform design plays an important role in achieving better clutter/interference rejection, as well as a more accurate estimation of the target parameters. The design of such sequences has…
Radar odometry is crucial for robust localization in challenging environments; however, the sparsity of reliable returns and distinctive noise characteristics impede its performance. This paper introduces geometrically-constrained…