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Real-Time Pose Graph SLAM based on Radar

Holder, Martin Friedrich and Hellwig, Sven and Winner, Hermann (2019):
Real-Time Pose Graph SLAM based on Radar.
In: 2019 IEEE Intelligent Vehicles Symposium (IV), In: 2019 IEEE Intelligent Vehicles Symposium (IV), Paris, France, 9-12 June 2019, pp. 1145-1151, DOI: 10.1109/IVS.2019.8813841,
[Online-Edition: https://doi.org/10.1109/IVS.2019.8813841],
[Conference or Workshop Item]

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: Conference or Workshop Item
Erschienen: 2019
Creators: Holder, Martin Friedrich and Hellwig, Sven and Winner, Hermann
Title: Real-Time Pose Graph SLAM based on Radar
Language: English
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.

Title of Book: 2019 IEEE Intelligent Vehicles Symposium (IV)
Divisions: 16 Department of Mechanical Engineering
16 Department of Mechanical Engineering > Institute of Automotive Engineering (FZD)
16 Department of Mechanical Engineering > Institute of Automotive Engineering (FZD) > Driver Assistance
Event Title: 2019 IEEE Intelligent Vehicles Symposium (IV)
Event Location: Paris, France
Event Dates: 9-12 June 2019
Date Deposited: 24 Nov 2019 20:55
DOI: 10.1109/IVS.2019.8813841
Official URL: https://doi.org/10.1109/IVS.2019.8813841
URN: urn:nbn:de:tuda-tuprints-92856
Additional Information:

See https://tuprints.ulb.tu-darmstadt.de/8756/ for video attachment

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