Conference item
Doppler-aware odometry from FMCW scanning radar
- Abstract:
- 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 process to enhance correlative scan matching. Secondly, we train a Neural Network (NN) for regressing forward velocity directly from a single radar scan; we fuse this estimate with the correlative scan matching estimate and show improved robustness to bad estimates caused by challenging environment geometries, e.g. narrow tunnels. We test our method with a novel custom dataset which is released with this work at https://ori.ox.ac.uk/publications/datasets.
- Publication status:
- Published
- Peer review status:
- Peer reviewed
Actions
Access Document
- Files:
-
-
(Preview, Accepted manuscript, pdf, 4.0MB, Terms of use)
-
- Publisher copy:
- 10.1109/ITSC57777.2023.10422412
Authors
+ Engineering and Physical Sciences Research Council
More from this funder
- Funder identifier:
- https://ror.org/0439y7842
- Grant:
- EP/W011344/1
- Programme:
- RAILS
+ Engineering and Physical Sciences Research Council
More from this funder
- Funder identifier:
- https://ror.org/0439y7842
- Grant:
- EP/V000748/1
- Programme:
- From Sensing to Collaboration
- Publisher:
- IEEE
- Host title:
- 2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)
- Pages:
- 5126-5132
- Publication date:
- 2024-02-13
- Acceptance date:
- 2023-07-10
- Event title:
- 26th IEEE International Conference on Intelligent Transportation Systems (ITSC 2023)
- Event location:
- Bilbao, Bizkaia, Spain
- Event website:
- https://2023.ieee-itsc.org/
- Event start date:
- 2023-09-24
- Event end date:
- 2023-09-28
- DOI:
- EISSN:
-
2153-0017
- ISSN:
-
2153-0009
- Language:
-
English
- Keywords:
- Pubs id:
-
1582337
- Local pid:
-
pubs:1582337
- Deposit date:
-
2023-12-14
- ARK identifier:
Terms of use
- Copyright holder:
- IEEE
- Copyright date:
- 2023
- Rights statement:
- © 2023 IEEE.
- Notes:
- This is the accepted manuscript version of the paper. The final version is available online from IEEE at https://dx.doi.org/10.1109/ITSC57777.2023.10422412
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