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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.) :

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

[Other], (2019)

[img] Video - Video (MP4)
radar_slam_video.mp4 - Accepted Version
Available under CC-BY-NC-ND 4.0 International - Creative Commons, Attribution Non-commerical, No-derivatives.

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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 > Institute of Automotive Engineering (FZD)
Date Deposited: 07 Jun 2019 10:33
Last Modified: 07 Jun 2019 10:33
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

URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/8756
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