Journal article

What goes around: leveraging a constant-curvature motion constraint in radar odometry

Abstract:: This letter presents a method that leverages vehicle motion constraints to refine data associations in a point-based radar odometry system. By using the strong prior on how a non-holonomic robot is constrained to move smoothly through its environment, we develop the necessary framework to estimate ego-motion from a single landmark association rather than considering all of these correspondences at once. This allows for informed outlier detection of poor matches that are a dominant source of pose estimate error. By refining the subset of matched landmarks, we see an absolute decrease of 2.15% (from 4.68% to 2.53%) in translational error, approximately halving the error in odometry (reducing by 45.94%) than when using the full set of correspondences. This contribution is relevant to other point-based odometry implementations that rely on a range sensor and provides a lightweight and interpretable means of incorporating vehicle dynamics for ego-motion estimation.

Publication status:: Published

Peer review status:: Peer reviewed

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APA Style

Aldera, R., Gadd, M., De Martini, D., & Newman, P. (2022). What goes around: leveraging a constant-curvature motion constraint in radar odometry. IEEE Robotics and Automation Letters, 7(3), 7865–7872.

MLA Style

Aldera, R., et al. “What Goes around: Leveraging a Constant-Curvature Motion Constraint in Radar Odometry.” IEEE Robotics and Automation Letters, vol. 7, no. 3, IEEE, 2022, pp. 7865–72.

Chicago Style

Aldera, R, M Gadd, D De Martini, and P Newman. 2022. “What Goes around: Leveraging a Constant-Curvature Motion Constraint in Radar Odometry.” IEEE Robotics and Automation Letters 7 (3): 7865–72.
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Files:: Aldera_et_al_2022_What_goes_around.pdf

(Preview, Accepted manuscript, pdf, 2.9MB, Terms of use)

Publisher copy:: 10.1109/LRA.2022.3186757

Authors

+ Aldera, R More by this author

Institution:: University of Oxford
Division:: MPLS
Department:: Engineering Science
Oxford college:: Pembroke College
Role:: Author

+ Gadd, M More by this author

Institution:: University of Oxford
Division:: MPLS
Department:: Engineering Science
Oxford college:: Kellogg College
Role:: Author

+ De Martini, D More by this author

Institution:: University of Oxford
Division:: MPLS
Department:: Engineering Science
Role:: Author

+ Newman, P More by this author

Institution:: University of Oxford
Division:: MPLS
Department:: Engineering Science
Oxford college:: Keble College
Role:: Author
ORCID:: 0000-0001-6562-8454

Publisher:: IEEE
Journal:: IEEE Robotics and Automation Letters More from this journal
Volume:: 7
Issue:: 3
Pages:: 7865-7872
Publication date:: 2022-06-27
Acceptance date:: 2022-06-16
DOI:: 10.1109/LRA.2022.3186757
EISSN:: 2377-3766

Language:: English
Keywords:: radar

radar odometry

sensing

FFR

ego-motion estimation

motion constraints

field robotics
Pubs id:: 1268845
Local pid:: pubs:1268845
Deposit date:: 2022-08-19

Terms of use

Copyright holder:: IEEE
Copyright date:: 2022
Rights statement:: © 2022 IEEE.
Notes:: This is the accepted manuscript version of the article. The final version is available online from IEEE at: https://doi.org/10.1109/LRA.2022.3186757

Licence:: Terms and Conditions of Use for Oxford University Research Archive

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