Probabilistic ego-motion estimation using multiple automotive radar sensors

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• 作者：M. Rapp^a ; ^{matthias.rapp@uni-ulm.de}Author Vitae ; M. Barjenbruch^a ; ^{michael.barjenbruch@uni-ulm.de}Author Vitae ; M. Hahn^b ; ^{markus.hahn@daimler.com}Author Vitae ; J. Dickmann^b ; ^{juergen.dickmann@daimler.com}Author Vitae ; K. Dietmayer^a ; ^{klaus.dietmayer@uni-ulm.de}Author Vitae
• 关键词：Radar ; Navigation ; Localization ; Automotive application
• 刊名：Robotics and Autonomous Systems
• 出版年：2017
• 出版时间：March 2017
• 年：2017
• 卷：89
• 期：Complete
• 页码：136-146
• 全文大小：1709 K
• 卷排序：89

文摘

Fast probabilistic approach for ego-motion estimation using automotive radar sensors. A clustering improved NDT-based method is applied by spatial and Doppler registration of consecutive measurements. Experiments on real world data show enhanced accuracy and computational speed compared to state-of-the-art approaches.