Work

Simultaneous Localization and Mapping for Indoor Mobile Robots Using Synthetic Aperture Radar Images

Year: 2024

Type: article

Abstract: Synthetic aperture radar (SAR) imaging provides a method for increasing the resolution of small and low-cost frequency-modulated continuous-wave multiple-input multiple-output radar sensors. SAR images provide a dense representation of the environment, which may be used for scan matching in a simultaneous localization and mapping (SLAM) system. This article presents the details of an indoor SLAM system that utilizes SAR images for loop closure detection and scan matching. The obtained trajectory accuracy is compared against a laboratory reference system, and SAR imaging results are presented.

Source: IEEE Journal of Indoor and Seamless Positioning and Navigation

DOI: 10.1109/jispin.2024.3524487

Authors: Yuma Elia Ritterbusch, Johannes Fink, Christian Waldschmidt

Institutions: Robert Bosch (Germany), Universität Ulm

Language: English

Topic: Robotics and Sensor-Based Localization

Subfield: Aerospace Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $1,995

OpenAlex ID: W4405906785

FWCI: 0.525

Cites: 28

Cited by: 3

Related to: 10