Lidar-Level Localization With Radar? The CFEAR Approach to Accurate, Fast, and Robust Large-Scale Radar Odometry in Diverse Environments

Daniel Adolfsson; Martin Magnusson; Anas AlhashimiAchim J. LilienthalHenrik Andreasson

首页> 外文期刊>IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society >Lidar-Level Localization With Radar? The CFEAR Approach to Accurate, Fast, and Robust Large-Scale Radar Odometry in Diverse Environments

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Lidar-Level Localization With Radar? The CFEAR Approach to Accurate, Fast, and Robust Large-Scale Radar Odometry in Diverse Environments

机译：Lidar-Level Localization With Radar? The CFEAR Approach to Accurate, Fast, and Robust Large-Scale Radar Odometry in Diverse Environments

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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.

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《IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society》 |2023年第2期|1476-1495|共20页
作者
Daniel Adolfsson; Martin Magnusson; Anas AlhashimiAchim J. LilienthalHenrik Andreasson;
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作者单位

Mobile Robotics and Olfaction Lab, AASS Research Center, ?rebro University, ?rebro, Sweden;

Mobile Robotics and Olfaction Lab, AASS Research Center, ?rebro University, ?rebro, Sweden|Computer Engineering Department, University of Baghdad, Baghdad, Iraq|Perception for Intelligent Systems, Technische Universit?t München, Munich, Germany;

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原文格式 PDF
正文语种英语
中图分类机器人技术;
关键词
Radar; Sensors; Spinning; Azimuth; Simultaneous localization and mapping; Estimation; Location awareness;

Lidar-Level Localization With Radar? The CFEAR Approach to Accurate, Fast, and Robust Large-Scale Radar Odometry in Diverse Environments

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