Holder, Martin Friedrich ; Hellwig, Sven ; Winner, Hermann
Hrsg.: Holder, Martin Friedrich (2019)
Video Attachment to "Real-Time Pose Graph SLAM based on Radar", presented at IEEE Intelligent Vehicles Symposium 2019.
Anderes, Erstveröffentlichung
Kurzbeschreibung (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.
| Typ des Eintrags: | Anderes |
|---|---|
| Erschienen: | 2019 |
| Herausgeber: | Holder, Martin Friedrich |
| Autor(en): | Holder, Martin Friedrich ; Hellwig, Sven ; Winner, Hermann |
| Art des Eintrags: | Erstveröffentlichung |
| Titel: | Video Attachment to "Real-Time Pose Graph SLAM based on Radar", presented at IEEE Intelligent Vehicles Symposium 2019 |
| Sprache: | Englisch |
| Publikationsjahr: | 10 Juni 2019 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/8756 |
| Kurzbeschreibung (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. |
| URN: | urn:nbn:de:tuda-tuprints-87567 |
| Zusätzliche Informationen: | Video Attachment to "Real-Time Pose Graph SLAM based on Radar", presented at IEEE Intelligent Vehicles Symposium 2019 |
| Fachbereich(e)/-gebiet(e): | 16 Fachbereich Maschinenbau 16 Fachbereich Maschinenbau > Fachgebiet Fahrzeugtechnik (FZD) |
| Hinterlegungsdatum: | 09 Jun 2019 19:55 |
| Letzte Änderung: | 23 Jun 2020 09:13 |
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