Real-Time Pose Graph SLAM based on Radar
Real-Time Pose Graph SLAM based on Radar
- New search for: Holder, Martin
- New search for: Hellwig, Sven
- New search for: Winner, Hermann
- New search for: Holder, Martin
- New search for: Hellwig, Sven
- New search for: Winner, Hermann
This work presents a real-time pose graph based Simultaneous Localization and Mapping (SLAM) system for automotive Radar. The algorithm constructs a map from Radar detections using the Iterative Closest Point (ICP) method to match consecutive scans obtained from a single, front-facing Radar sensor. The algorithm is evaluated on a range of realworld datasets and shows mean translational errors as low as 0.62 m and demonstrates robustness on long tracks. Using a single Radar, our proposed system achieves state-of-the-art performance when compared to other Radar-based SLAM algorithms that use multiple, higher-resolution Radars.
Document information
Real-Time Pose Graph SLAM based on Radar
2019 IEEE Intelligent Vehicles Symposium (IV) ; 1145-1151
2019-06-01
3054887 byte
Conference paper
Electronic Resource
English
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