BFAR – Bounded False Alarm Rate detector for improved radar odometry estimation

Alhashimi, Anas,1978-School of Science and Technology, Örebro University, Örebro, Sweden; Computer Engineering Department, University of Baghdad, Baghdad, Iraq,Center for Applied Autonomous Sensor Systems (AASS) (author)

This paper presents a new detector for filtering noise from true detections in radar data, which improves the state of the art in radar odometry. Scanning Frequency-Modulated Continuous Wave (FMCW) radars can be useful for localisation and mapping in low visibility, but return a lot of noise compared to (more commonly used) lidar, which makes the detection task more challenging. Our Bounded False-Alarm Rate (BFAR) detector is different from the classical Constant False-Alarm Rate (CFAR) detector in that it applies an affine transformation on the estimated noise level after which the parameters that minimize the estimation error can be learned. BFAR is an optimized combination between CFAR and fixed-level thresholding. Only a single parameter needs to be learned from a training dataset. We apply BFAR tothe use case of radar odometry, and adapt a state-of-the-art odometry pipeline (CFEAR), replacing its original conservative filtering with BFAR. In this way we reduce the state-of-the-art translation/rotation odometry errors from 1.76%/0.5◦/100 m to 1.55%/0.46◦/100 m; an improvement of 12.5%.

Adolfsson, Daniel,1992-Örebro universitet,Institutionen för naturvetenskap och teknik,Center for Applied Autonomous Sensor Systems (AASS)(Swepub:oru)dlao (author)
Magnusson, Martin,Docent,1977-Örebro universitet,Institutionen för naturvetenskap och teknik,Center for Applied Autonomous Sensor Systems (AASS)(Swepub:oru)mnmn (author)
Andreasson, Henrik,1977-Örebro universitet,Institutionen för naturvetenskap och teknik,Center for Applied Autonomous Sensor Systems (AASS)(Swepub:oru)hkan (author)
Lilienthal, Achim,1970-Örebro universitet,Institutionen för naturvetenskap och teknik,Center for Applied Autonomous Sensor Systems (AASS)(Swepub:oru)amll (author)
School of Science and Technology, Örebro University, Örebro, Sweden; Computer Engineering Department, University of Baghdad, Baghdad, IraqCenter for Applied Autonomous Sensor Systems (AASS) (creator_code:org_t)

By the author/editor: Alhashimi, Anas, ...; Adolfsson, Danie ...; Magnusson, Marti ...; Andreasson, Henr ...; Lilienthal, Achi ...

About the subject

NATURAL SCIENCES: NATURAL SCIENCES; and Computer and Inf ...; and Computer Science ...

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