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Lidar-Level Localiz...
Lidar-Level Localization With Radar? The CFEAR Approach to Accurate, Fast, and Robust Large-Scale Radar Odometry in Diverse Environments
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- Adolfsson, Daniel, 1992- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,Mobile Robotics and Olfaction Lab, AASS Research Center
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- Magnusson, Martin, Docent, 1977- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,Mobile Robotics and Olfaction Lab, AASS Research Center
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- Alhashimi, Anas (författare)
- Örebro University, Örebro, Sweden; Computer Engineering Department, University of Baghdad, Baghdad, Iraq,Mobile Robotics and Olfaction Lab, AASS Research Center
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- Lilienthal, Achim, 1970- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,Mobile Robotics and Olfaction Lab, AASS Research Center
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- Andreasson, Henrik, 1977- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,Mobile Robotics and Olfaction Lab, AASS Research Center
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(creator_code:org_t)
- IEEE, 2023
- 2023
- Engelska.
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Ingår i: IEEE Transactions on robotics. - : IEEE. - 1552-3098 .- 1941-0468. ; 39:2, s. 1476-1495
- Relaterad länk:
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https://doi.org/10.4...
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https://oru.diva-por... (primary) (Raw object)
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- This article presents an accurate, highly efficient, and learning-free method for large-scale odometry estimation using spinning radar, empirically found to generalize well across very diverse environments—outdoors, from urban to woodland, and indoors in warehouses and mines—without changing parameters. Our method integrates motion compensation within a sweep with one-to-many scan registration that minimizes distances between nearby oriented surface points and mitigates outliers with a robust loss function. Extending our previous approach conservative filtering for efficient and accurate radar odometry (CFEAR), we present an in-depth investigation on a wider range of datasets, quantifying the importance of filtering, resolution, registration cost and loss functions, keyframe history, and motion compensation. We present a new solving strategy and configuration that overcomes previous issues with sparsity and bias, and improves our state-of-the-art by 38%, thus, surprisingly, outperforming radar simultaneous localization and mapping (SLAM) and approaching lidar SLAM. The most accurate configuration achieves 1.09% error at 5 Hz on the Oxford benchmark, and the fastest achieves 1.79% error at 160 Hz.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Nyckelord
- Radar
- Sensors
- Spinning
- Azimuth
- Simultaneous localization and mapping
- Estimation
- Location awareness
- Localization
- radar odometry
- range sensing
- SLAM
- Datalogi
- Computer and Systems Science
- Computer Science
- Datavetenskap
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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