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Radar-only ego-motion estimation in difficult settings via graph matching

Abstract:

Radar detects stable, long-range objects under variable weather and lighting conditions, making it a reliable and versatile sensor well suited for ego-motion estimation. In this work, we propose a radar-only odometry pipeline that is highly robust to radar artifacts (e.g., speckle noise and false positives) and requires only one input parameter. We demonstrate its ability to adapt across diverse settings, from urban UK to off-road Iceland, achieving a scan mat...

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Publication status:
Published
Peer review status:
Reviewed (other)

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Publisher copy:
10.1109/ICRA.2019.8793990

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Oxford college:
Keble College
Role:
Author
ORCID:
0000-0001-6562-8454
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Name:
Engineering & Physical Sciences Research Council
Grant:
EP/M019918/1
Publisher:
IEEE
Host title:
IEEE International Conference on Robotics and Automation, 2019.
Journal:
International Conference on Robotics and Automation More from this journal
Publication date:
2019-08-12
Acceptance date:
2019-01-31
DOI:
Keywords:
Pubs id:
pubs:1026217
UUID:
uuid:216cf226-3b70-486e-92b8-a1bb65e51299
Local pid:
pubs:1026217
Source identifiers:
1026217
Deposit date:
2019-07-03

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