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Look around you: sequence-based radar place recognition with learned rotational invariance

Abstract:

This paper details an application which yields significant improvements to the adeptness of place recognition with Frequency-Modulated Continuous-Wave scanning, 360-degrees field of view radar - a commercially promising sensor poised for exploitation in mobile autonomy. We show how a rotationally-invariant metric embedding for radar scans can be integrated into sequence-based trajectory matching systems typically applied to videos taken by visual sensors. Due to the complete horizontal field ...

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Publication status:
Published
Peer review status:
Peer reviewed

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
More by this author
Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
More by this author
Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Publisher:
IEEE Publisher's website
Host title:
Position Location and Navigation (PLANS), IEEE Symposium
Publication date:
2020-06-08
Acceptance date:
2020-03-03
Event title:
IEEE/ION Position, Location and Navigation Symposium (PLANS) 2020
Event location:
Portland, Oregon
Event website:
https://www.ion.org/plans/
Event start date:
2020-04-20T00:00:00Z
Event end date:
2020-04-23T00:00:00Z
DOI:
Pubs id:
1092258
Local pid:
pubs:1092258
Language:
English

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