Doppler-aware Odometry from FMCW Scanning Radar Article Swipe
Fraser Rennie
,
David Williams
,
P. R. Newman
,
Daniele De Martini
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2308.10597
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2308.10597
This work explores Doppler information from a millimetre-Wave (mm-W) Frequency-Modulated Continuous-Wave (FMCW) scanning radar to make odometry estimation more robust and accurate. Firstly, doppler information is added to the scan masking process to enhance correlative scan matching. Secondly, we train a Neural Network (NN) for regressing forward velocity directly from a single radar scan; we fuse this estimate with the correlative scan matching estimate and show improved robustness to bad estimates caused by challenging environment geometries, e.g. narrow tunnels. We test our method with a novel custom dataset which is released with this work at https://ori.ox.ac.uk/publications/datasets.
Related Topics
Concepts
Odometry
Robustness (evolution)
Computer science
Radar
Continuous-wave radar
Artificial intelligence
Fuse (electrical)
Doppler effect
Computer vision
Doppler radar
Radar imaging
Remote sensing
Geology
Telecommunications
Engineering
Physics
Robot
Mobile robot
Chemistry
Astronomy
Gene
Electrical engineering
Biochemistry
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2308.10597
- https://arxiv.org/pdf/2308.10597
- OA Status
- green
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4386081562
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4386081562Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2308.10597Digital Object Identifier
- Title
-
Doppler-aware Odometry from FMCW Scanning RadarWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2023Year of publication
- Publication date
-
2023-08-21Full publication date if available
- Authors
-
Fraser Rennie, David Williams, P. R. Newman, Daniele De MartiniList of authors in order
- Landing page
-
https://arxiv.org/abs/2308.10597Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2308.10597Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2308.10597Direct OA link when available
- Concepts
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Odometry, Robustness (evolution), Computer science, Radar, Continuous-wave radar, Artificial intelligence, Fuse (electrical), Doppler effect, Computer vision, Doppler radar, Radar imaging, Remote sensing, Geology, Telecommunications, Engineering, Physics, Robot, Mobile robot, Chemistry, Astronomy, Gene, Electrical engineering, BiochemistryTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.Firstly, | 22 |
| abstract_inverted_index.directly | 48 |
| abstract_inverted_index.estimate | 57, 63 |
| abstract_inverted_index.explores | 2 |
| abstract_inverted_index.improved | 66 |
| abstract_inverted_index.matching | 62 |
| abstract_inverted_index.odometry | 16 |
| abstract_inverted_index.released | 90 |
| abstract_inverted_index.scanning | 12 |
| abstract_inverted_index.tunnels. | 78 |
| abstract_inverted_index.velocity | 47 |
| abstract_inverted_index.Secondly, | 37 |
| abstract_inverted_index.accurate. | 21 |
| abstract_inverted_index.estimates | 70 |
| abstract_inverted_index.matching. | 36 |
| abstract_inverted_index.estimation | 17 |
| abstract_inverted_index.regressing | 45 |
| abstract_inverted_index.robustness | 67 |
| abstract_inverted_index.challenging | 73 |
| abstract_inverted_index.correlative | 34, 60 |
| abstract_inverted_index.environment | 74 |
| abstract_inverted_index.geometries, | 75 |
| abstract_inverted_index.information | 4, 24 |
| abstract_inverted_index.Continuous-Wave | 10 |
| abstract_inverted_index.millimetre-Wave | 7 |
| abstract_inverted_index.Frequency-Modulated | 9 |
| abstract_inverted_index.https://ori.ox.ac.uk/publications/datasets. | 95 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 4 |
| citation_normalized_percentile |