- Abstract:
-
This paper is about detecting failures under uncertainty and improving the reliability of radar-only motion estimation. We use weak supervision together with inertial measurement fusion to train a classifier that exploits the principal eigenvector associated with our radar scan matching algorithm at run-time and produces a prior belief in the robot’s motion estimate. This prior is used in a filtering framework to correct for vehicle motion estimates. We demonstrate the system on a challenging...
Expand abstract - Publication status:
- Published
- Peer review status:
- Peer reviewed
- Version:
- Accepted Manuscript
- Files:
-
-
(pdf, 2.6mb)
-
- Publisher copy:
- 10.1109/ITSC.2019.8917111
-
Version unsuitable
-
We have not obtained a suitable full-text for a given research output. See this page for more information.
-
Recently completed
-
Sometimes content is held in ORA but is unavailable for a fixed period of time to comply with the policies and wishes of rights holders.
-
Permissions
-
All content made available in ORA should comply with relevant rights, such as copyright. See this page for more information.
-
Clearance
-
Some thesis volumes scanned as part of the digitisation scheme funded by Dr Leonard Polonsky are currently unavailable due to sensitive material or uncleared third-party copyright content. We are attempting to contact authors whose theses are affected.
- Grant:
- EP/M019918/1
- EP/J012017/1
- Publisher:
- IEEE Publisher's website
- Pages:
- 2835-2842
- Publication date:
- 2019-11-28
- Acceptance date:
- 2019-06-24
- DOI:
- Pubs id:
-
pubs:1033770
- URN:
-
uri:54c77405-0e9b-4899-a741-f7049a4724b6
- UUID:
-
uuid:54c77405-0e9b-4899-a741-f7049a4724b6
- Local pid:
- pubs:1033770
- ISBN:
- 978-1-5386-7024-8
- Copyright holder:
- IEEE
- Copyright date:
- 2019
- Notes:
-
Copyright © 2019 IEEE. This is the accepted manuscript version of the paper. The final version is available online from IEEE at: https://doi.org/10.1109/ITSC.2019.8917111
Conference item
What could go wrong? Introspective radar odometry in challenging environments
Actions
Access Document
Why is the content I wish to access not available via ORA?
Bibliographic data (the information relating to research outputs) and full-text items (e.g. articles, theses, reports, etc.) arrive in ORA from several different sources. Unfortunately we are not able to make available the full-text for every research output.
Please contact the ORA team (
) if you have queries regarding unavailable content OR if you are aware of a full-text copy we can make available.
) if you have queries regarding unavailable content OR if you are aware of a full-text copy we can make available.
Content may be unavailable for the following four reasons
Alternative access to the full-text
You may be able to access the full-text directly from the publisher's website using the 'Publisher Copy' link in the 'Links & Downloads' box from a research output's ORA record page. This method may require an institutional or individual subscription to the journal/resource.
Authors
Funding
+ Engineering and Physical Sciences Research Council
More from this funder
Bibliographic Details
Item Description
Terms of use
Metrics
Altmetrics
Dimensions
If you are the owner of this record, you can report an update to it here: Report update to this record