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Precise ego-motion estimation with millimeter-wave radar under diverse and challenging conditions

Abstract:

In contrast to cameras, lidars, GPS, and proprioceptive sensors, radars are affordable and efficient systems that operate well under variable weather and lighting conditions, require no external infrastructure, and detect long-range objects. In this paper, we present a reliable and accurate radar-only motion estimation algorithm for mobile autonomous systems. Using a frequency-modulated continuous-wave (FMCW) scanning radar, we first extract landmarks with an algorithm that accounts for unwan...

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Publication status:
Published
Peer review status:
Peer reviewed

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Publisher copy:
10.1109/ICRA.2018.8460687

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
ORCID:
0000-0001-6562-8454
Publisher:
IEEE Publisher's website
Pages:
6045-6052
Publication date:
2018-09-13
Acceptance date:
2018-01-26
Event title:
2018 IEEE International Conference on Robotics and Automation (ICRA 2018)
Event location:
Brisbane, Australia
Event website:
https://www.ieee-ras.org/component/rseventspro/event/570-icra-2018-ieee-international-conference-on-robotics-and-automation
Event start date:
2018-05-21T00:00:00Z
Event end date:
2018-05-26T00:00:00Z
DOI:
EISBN:
9781538630815
ISBN:
9781538630822
Language:
English
Keywords:
Pubs id:
992958
Local pid:
pubs:992958
Deposit date:
2021-03-04

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