Radar-based SLAM without odometric sensor
Year: 2010
Type: conference-paper
Abstract: For environmental management, remote sensing techniques are of major interest as they can provide global and local coverage of natural environments. Considering the visibility conditions that are often poor in outdoor environments (day/night cycles, clouds, shadows, fog, etc.), a microwave system offers an alternative solution in order to overcome the difficulties of use of optical sensors. In order to deal with the need of high spatial resolution, close temporal acquisition, and low-cost data availability, we developed a small-sized microwave radar sensor called K2Pi. This radar is based on the principle of Frequency-Modulated Continuous Wave (FM-CW) technology. An application in simultaneous localization and mapping using scan matching of radar images (R SLAM algorithm) has been developed in order to build radar map of the environment. Avoiding the use of odometric sensors, this SLAM algorithm allows placing the radar on every kind of vehicles. We present in this paper its potentialities through an application of natural environment mapping.
Source: HAL
Authors: Rouveure, R., Faure, P., Monod, M.O.
Language: English
Subfield: Computer Vision and Pattern Recognition
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W2189614076