Milli-RIO: ego-motion estimation with low-cost millimetre-wave radar

Journal article

Robust indoor ego-motion estimation has attracted significant interest in the last decades due to the fastgrowing demand for location-based services in indoor environments. Among various solutions, frequency-modulatedcontinuo us-wave (FMCW) radar sensors in millimeter-wave (MMWave) spectrum are gaining more prominence due to their intrinsic advantages such as penetration capability and high accuracy. Single-chip low-cost MMWave radar as an emerging technology provides an alternative and complementary solution for robust ego-motion estimation, making it feasible in resource-constrained platforms thanks to low-power consumption and easy system integration. In this paper, we introduce Milli-RIO, an MMWave radar-based solution making use of a single-chip low-cost radar and inertial measurement unit sensor to estimate six-degrees-of-freedom ego-motion of a moving radar. Detailed quantitative and qualitative evaluations prove that the proposed method achieves precisions on the order of few centimeters for indoor localization tasks.

Authors: Almalioglu, Y; Turan, M; Lu, CX; Trigoni, N; Markham, A

• Publication status: Published
• Peer review status: Reviewed (other)
• Publisher: Institute of Electrical and Electronics Engineers
• Journal: IEEE Sensors Journal
• Volume: 21
• Issue: 3
• Pages: 3314 - 3323
• Publication date: 2020-09-10
• DOI: 10.1109/jsen.2020.3023243
• EISSN: 2379-9153
• ISSN: 1530-437X
• Language: English
• Keywords: FFR