相关论文: Need for Speed: Fast Correspondence-Free Lidar-Ine…

Frequency-Modulated Continuous-Wave (FMCW) lidar is a recently emerging technology that additionally enables per-return instantaneous relative radial velocity measurements via the Doppler effect. In this letter, we present the first…

This work explores Doppler information from a millimetre-Wave (mm-W) Frequency-Modulated Continuous-Wave (FMCW) scanning radar to make odometry estimation more robust and accurate. Firstly, doppler information is added to the scan masking…

Spinning, frequency-modulated continuous-wave (FMCW) radars with 360 degree coverage have been gaining popularity for autonomous-vehicle navigation. However, unlike `fixed' automotive radar, commercially available spinning radar systems…

Achieving successful scan matching is essential for LiDAR odometry. However, in challenging environments with adverse weather conditions or repetitive geometric patterns, LiDAR odometry performance is degraded due to incorrect scan…

Odometry is a crucial component for successfully implementing autonomous navigation, relying on sensors such as cameras, LiDARs and IMUs. However, these sensors may encounter challenges in extreme weather conditions, such as snowfall and…

In this paper, we propose a learning-based moving-object tracking method utilizing our newly developed LiDAR sensor, Frequency Modulated Continuous Wave (FMCW) LiDAR. Compared with most existing commercial LiDAR sensors, our FMCW LiDAR can…

Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…

Frequency-modulated continuous-wave (FMCW) lidar conventionally estimates distance and velocity from constant beat frequencies generated through interferometry. Existing FMCW implementations emphasize simple signal processing -- e.g., beat…

A renaissance in radar-based sensing for mobile robotic applications is underway. Compared to cameras or lidars, millimetre-wave radars have the ability to `see' through thin walls, vegetation, and adversarial weather conditions such as…

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…

Enabling robot autonomy in complex environments for mission critical application requires robust state estimation. Particularly under conditions where the exteroceptive sensors, which the navigation depends on, can be degraded by…

We demonstrate the imaging capability of a frequency modulated continuous wave lidar based on a fiber bundle. The lidar constructs velocity and range images for hard targets at a rate of 60 Hz. The sensing range is up to 30 m with 20 mW of…

State estimation is a crucial component for the successful implementation of robotic systems, relying on sensors such as cameras, LiDAR, and IMUs. However, in real-world scenarios, the performance of these sensors is degraded by challenging…

We present a novel 3D odometry method that recovers the full motion of a vehicle only from a Doppler-capable range sensor. It leverages the radial velocities measured from the scene, estimating the sensor's velocity from a single scan. The…

Simultaneous localization and mapping (SLAM) is a critical capability for autonomous systems. Traditional SLAM approaches, which often rely on visual or LiDAR sensors, face significant challenges in adverse conditions such as low light or…

Vehicle odometry is an essential component of an automated driving system as it computes the vehicle's position and orientation. The odometry module has a higher demand and impact in urban areas where the global navigation satellite system…

This paper presents an accurate, highly efficient, and learning-free method for large-scale odometry estimation using spinning radar, empirically found to generalize well across very diverse environments -- outdoors, from urban to woodland,…

We present Doppler-corrected position and velocity measurement with a fiber-coupled COFDR system based on the FMCW radar principle for high precision localization applications. A high measurement accuracy and the ability to track targets…

The development of high-resolution imaging radars introduce a plethora of useful applications, particularly in the automotive sector. With increasing attention on active transport safety and autonomous driving, these imaging radars are set…

This paper presents the accurate, highly efficient, and learning-free method CFEAR Radarodometry for large-scale radar odometry estimation. By using a filtering technique that keeps the k strongest returns per azimuth and by additionally…