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Localization and Mapping Using Only a Rotating FMCW Radar Sensor
Institut Pascal, Université Blaise Pascal, Clermont Université, BP 10448, F-63000 Clermont-Ferrand,France
Institut Pascal, CNRS, UMR 6602, F-63171 Aubière, France
* Author to whom correspondence should be addressed.
Received: 28 February 2013; in revised form: 27 March 2013 / Accepted: 3 April 2013 / Published: 8 April 2013
Abstract: Rotating radar sensors are perception systems rarely used in mobile robotics. This paper is concerned with the use of a mobile ground-based panoramic radar sensor which is able to deliver both distance and velocity of multiple targets in its surrounding. The consequence of using such a sensor in high speed robotics is the appearance of both geometric and Doppler velocity distortions in the collected data. These effects are, in the majority of studies, ignored or considered as noise and then corrected based on proprioceptive sensors or localization systems. Our purpose is to study and use data distortion and Doppler effect as sources of information in order to estimate the vehicle’s displacement. The linear and angular velocities of the mobile robot are estimated by analyzing the distortion of the measurements provided by the panoramic Frequency Modulated Continuous Wave (FMCW) radar, called IMPALA. Without the use of any proprioceptive sensor, these estimates are then used to build the trajectory of the vehicle and the radar map of outdoor environments. In this paper, radar-only localization and mapping results are presented for a ground vehicle moving at high speed.
Keywords: radar sensor; localization; mapping; distortion; Doppler; odometry
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MDPI and ACS Style
Vivet, D.; Checchin, P.; Chapuis, R. Localization and Mapping Using Only a Rotating FMCW Radar Sensor. Sensors 2013, 13, 4527-4552.
Vivet D, Checchin P, Chapuis R. Localization and Mapping Using Only a Rotating FMCW Radar Sensor. Sensors. 2013; 13(4):4527-4552.
Vivet, Damien; Checchin, Paul; Chapuis, Roland. 2013. "Localization and Mapping Using Only a Rotating FMCW Radar Sensor." Sensors 13, no. 4: 4527-4552.