TU Darmstadt / ULB / TUbiblio

Video Attachment to "Real-Time Pose Graph SLAM based on Radar", presented at IEEE Intelligent Vehicles Symposium 2019

Holder, Martin, Friedrich and Hellwig, Sven and Winner, Hermann
Holder, Martin, Friedrich (ed.) (2019):
Video Attachment to "Real-Time Pose Graph SLAM based on Radar", presented at IEEE Intelligent Vehicles Symposium 2019.
[Online-Edition: https://tuprints.ulb.tu-darmstadt.de/8756],
[Other]

Abstract

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 real-world 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.

Item Type: Other
Erschienen: 2019
Editors: Holder, Martin, Friedrich
Creators: Holder, Martin, Friedrich and Hellwig, Sven and Winner, Hermann
Title: Video Attachment to "Real-Time Pose Graph SLAM based on Radar", presented at IEEE Intelligent Vehicles Symposium 2019
Language: German
Abstract:

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 real-world 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.

Divisions: 16 Department of Mechanical Engineering
16 Department of Mechanical Engineering > Institute of Automotive Engineering (FZD)
Date Deposited: 09 Jun 2019 19:55
Official URL: https://tuprints.ulb.tu-darmstadt.de/8756
URN: urn:nbn:de:tuda-tuprints-87567
Additional Information:

Video Attachment to "Real-Time Pose Graph SLAM based on Radar", presented at IEEE Intelligent Vehicles Symposium 2019

Export:
Suche nach Titel in: TUfind oder in Google

Optionen (nur für Redakteure)

View Item View Item