Related papers: DRO: Doppler-Aware Direct Radar Odometry
Direction-of-arrival (DOA) estimation refers to the process of retrieving the direction information of several electromagnetic waves/sources from the outputs of a number of receiving antennas that form a sensor array. DOA estimation is a…
In this letter, we propose MAROAM, a millimeter wave radar-based SLAM framework, which employs a two-step feature selection process to build the global consistent map. Specifically, we first extract feature points from raw data based on…
To implement autonomous driving, one essential step is to model the vehicle environment based on the sensor inputs. Radars, with their well-known advantages, became a popular option to infer the occupancy state of grid cells surrounding the…
This work is completed on a whim after discussions with my junior colleague. The motion direction angle affects the micro-Doppler spectrum width, thus determining the human motion direction can provide important prior information for…
Mobile AR applications benefit from fast initialization to display world-locked effects instantly. However, standard visual odometry or SLAM algorithms require motion parallax to initialize (see Figure 1) and, therefore, suffer from delayed…
Radar sensors have a long tradition in advanced driver assistance systems (ADAS) and also play a major role in current concepts for autonomous vehicles. Their importance is reasoned by their high robustness against meteorological effects,…
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…
We consider a synthetic aperture radar (SAR) system that uses ultra-narrowband continuous waveforms (CW) as an illumination source. Such a system has many practical advantages, such as the use of relatively simple, low-cost and low-power…
Precision measurements of the beam pattern response are needed to predict the response of a radio telescope. Mapping the beam of a low frequency radio array presents a unique challenge and science cases such as the observation of the 21\,cm…
The Alderney Race has been identified as a future site for the development of tidal energy, due to its bidirectional strong current reaching 5 m/s during spring tides. This hydrodynamics is very difficult to measure by in situ or remote…
In the absence of reliable and accurate GPS, visual odometry (VO) has emerged as an effective means of estimating the egomotion of robotic vehicles. Like any dead-reckoning technique, VO suffers from unbounded accumulation of drift error…
The rotational Doppler effect associated with light's orbital angular momentum (OAM) has been found as a powerful tool to detect rotating bodies. However, this method was only demonstrated experimentally on the laboratory scale under well…
Radial velocity estimates provided by Doppler weather radar are critical measurements used by operational forecasters for the detection and monitoring of life-impacting storms. The sampling methods used to produce these measurements are…
ESA's Envisat mission carried a RA-2 radar altimeter since its launch in 2002 to sense sea state and especially measure sea surface height (SSH). The onboard processing combined multiple echoes incoherently to reduce Speckle noise and…
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…
The integration of sensor data is crucial in the field of robotics to take full advantage of the various sensors employed. One critical aspect of this integration is determining the extrinsic calibration parameters, such as the relative…
The comparison of optical reference frequency signals over free-space optical links is limited by the relative motion between local and remote sites. For ground to low earth orbit comparison, the expected Doppler shift and Doppler rate…
Object detection is a core component of perception systems, providing the ego vehicle with information about its surroundings to ensure safe route planning. While cameras and Lidar have significantly advanced perception systems, their…
The use of drones in a wide range of applications is steadily increasing. However, this has also raised critical security concerns such as unauthorized drone intrusions into restricted zones. Therefore, robust and accurate drone detection…
This paper addresses a critical preliminary step in radar signal processing: detecting the presence of a radar signal and robustly estimating its bandwidth. Existing methods which are largely statistical feature-based approaches face…