Abstract
This paper is concerned with the Simultaneous Localization And Mapping (SLAM) problem using data obtained from a microwave radar sensor. The radar scanner is based on Frequency Modulated Continuous Wave (FMCW) technology. In order to meet the needs of radar image analysis complexity, a trajectoryoriented EKF-SLAM technique using data from a 360. field of view radar sensor has been developed. This process makes no landmark assumptions and avoids the data association problem. The method of egomotion estimation makes use of the Fourier-Mellin Transform for registering radar images in a sequence, from which the rotation and translation of the sensor motion can be estimated. In the context of the scan-matching SLAM, the use of the Fourier-Mellin Transform is original and provides an accurate and efficient way of computing the rigid transformation between consecutive scans. Experimental results on real-world data are presented.
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Checchin, P., Gérossier, F., Blanc, C., Chapuis, R., Trassoudaine, L. (2010). Radar Scan Matching SLAM Using the Fourier-Mellin Transform. In: Howard, A., Iagnemma, K., Kelly, A. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 62. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-13408-1_14
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DOI: https://doi.org/10.1007/978-3-642-13408-1_14
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