期刊
IEEE SENSORS JOURNAL
卷 21, 期 3, 页码 3314-3323出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JSEN.2020.3023243
关键词
Sensors; Estimation; Radar imaging; Radar measurements; Radar antennas; Radar detection; Ego-motion estimation; millimetre-wave radar; radar odometry; recurrent neural networks
资金
- National Institute of Standards and Technology (NIST) [70NANB17H185]
This paper introduces a solution based on millimeter-wave radar and inertial measurement unit sensor for estimating six-degrees-of-freedom ego-motion of a moving radar indoors, achieving precision on the order of a few centimeters.
Robust indoor ego-motion estimation has attracted significant interest in the last decades due to the fast-growing demand for location-based services in indoor environments. Among various solutions, frequency-modulated continuous-wave (FMCW) radar sensors in millimeter-wave (MMWave) spectrum are gaining more prominence due to their intrinsic advantages such as penetration capability and high accuracy. Single-chip low-cost MMWave radar as an emerging technology provides an alternative and complementary solution for robust ego-motion estimation, making it feasible in resource-constrained platforms thanks to low-power consumption and easy system integration. In this paper, we introduce Milli-RIO, an MMWave radar-based solution making use of a single-chip low-cost radar and inertial measurement unit sensor to estimate six-degrees-of-freedom ego-motion of a moving radar. Detailed quantitative and qualitative evaluations prove that the proposed method achieves precisions on the order of few centimeters for indoor localization tasks.
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