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Video Attachment to "Real-Time Pose Graph SLAM based on Radar", presented at IEEE Intelligent Vehicles Symposium 2019

Holder, Martin, Friedrich ; Hellwig, Sven ; Winner, Hermann
ed.: Holder, Martin, Friedrich (2019)
Video Attachment to "Real-Time Pose Graph SLAM based on Radar", presented at IEEE Intelligent Vehicles Symposium 2019.
Other, Primary publication

[img] Video - Video (MP4)
radar_slam_video.mp4 - Accepted Version
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Type of entry: Primary publication
Title: Video Attachment to "Real-Time Pose Graph SLAM based on Radar", presented at IEEE Intelligent Vehicles Symposium 2019
Language: German
Date: 10 June 2019
Abstract:

This work presents a real-time pose graph based Simultaneous Localization and Mapping (SLAM) system for automotive Radar. The algorithm constructs a map from Radar detections using the Iterative Closest Point (ICP) method to match consecutive scans obtained from a single, front-facing Radar sensor. The algorithm is evaluated on a range of real-world datasets and shows mean translational errors as low as 0.62 m and demonstrates robustness on long tracks. Using a single Radar, our proposed system achieves state-of-the-art performance when compared to other Radar-based SLAM algorithms that use multiple, higher-resolution Radars.

URN: urn:nbn:de:tuda-tuprints-87567
Additional Information:

Video Attachment to "Real-Time Pose Graph SLAM based on Radar", presented at IEEE Intelligent Vehicles Symposium 2019

Divisions: 16 Department of Mechanical Engineering > Institute of Automotive Engineering (FZD)
Date Deposited: 07 Jun 2019 10:33
Last Modified: 25 Feb 2020 14:47
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/8756
PPN: 449669564
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