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Fast radar motion estimation with a learnt focus of attention using weak supervision

Abstract:

This paper is about fast motion estimation with scanning radar. We use weak supervision to train a focus of attention policy which actively down-samples the measurement stream before data association steps are undertaken. At training, we avoid laborious manual labelling by exploiting short-term sensor coherence from multiple poses in the presence of an external ego-motion estimator (for example, wheel odometry). In this way, we generate copious annotated measurements which can be used for tra...

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Publication status:
Published
Peer review status:
Peer reviewed
Version:
Accepted Manuscript

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Publisher copy:
10.1109/ICRA.2019.8794014

Authors


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Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Oxford college:
Pembroke College
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Publisher:
IEEE Publisher's website
Pages:
1190-1196
Publication date:
2019-08-12
Acceptance date:
2019-02-28
DOI:
ISSN:
2577-087X
Pubs id:
pubs:997060
URN:
uri:f4c7ab3c-6b49-4b8f-b4dc-a83008552986
UUID:
uuid:f4c7ab3c-6b49-4b8f-b4dc-a83008552986
Local pid:
pubs:997060
ISBN:
978-1-5386-6027-0

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