Year: 2024
Type: preprint
Abstract: Precise ego-motion measurement is crucial for various applications, including robotics, augmented reality, and autonomous navigation. In this poster, we propose mmPhase, an odometry framework based on single-chip millimetre-wave (mmWave) radar for robust ego-motion estimation in mobile platforms without requiring additional modalities like the visual, wheel, or inertial odometry. mmPhase leverages a phase-based velocity estimation approach to overcome the limitations of conventional doppler resolution. For real-world evaluations of mmPhase we have developed an ego-vehicle prototype. Compared to the state-of-the-art baselines, mmPhase shows superior performance in ego-velocity estimation.
Source: arXiv (Cornell University)
Authors: Sen, Argha, Chakraborty, Soham, Tripathy, Soham, Chakraborty, Sandip
Institution: Indian Institute of Technology Kharagpur
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4394868105