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Real-Time Pose Graph SLAM based on Radar

Holder, Martin Friedrich ; Hellwig, Sven ; Winner, Hermann (2019)
Real-Time Pose Graph SLAM based on Radar.
2019 IEEE Intelligent Vehicles Symposium (IV). Paris, France (9-12 June 2019)
Conference or Workshop Item, Secondary publication, Postprint

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Item Type: Conference or Workshop Item
Type of entry: Secondary publication
Title: Real-Time Pose Graph SLAM based on Radar
Language: English
Date: 21 November 2019
Place of Publication: Darmstadt
Publisher: IEEE
Book Title: 2019 IEEE Intelligent Vehicles Symposium (IV)
Event Title: 2019 IEEE Intelligent Vehicles Symposium (IV)
Event Location: Paris, France
Event Dates: 9-12 June 2019
Corresponding Links:
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.

Status: Postprint
URN: urn:nbn:de:tuda-tuprints-92856
Additional Information:

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

Classification DDC: 600 Technology, medicine, applied sciences > 620 Engineering and machine engineering
Divisions: 16 Department of Mechanical Engineering > Institute of Automotive Engineering (FZD)
16 Department of Mechanical Engineering > Institute of Automotive Engineering (FZD) > Driver Assistance
Date Deposited: 21 Nov 2019 13:02
Last Modified: 09 Feb 2024 09:48
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/9285
PPN: 456541071
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