PhaRaO: Direct Radar Odometry using Phase Correlation

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dc.contributor.authorPark, Yeong Sangko
dc.contributor.authorShin, Young-Sikko
dc.contributor.authorKim, Ayoungko
dc.date.accessioned2020-12-21T09:30:11Z-
dc.date.available2020-12-21T09:30:11Z-
dc.date.created2020-11-30-
dc.date.created2020-11-30-
dc.date.issued2020-05-31-
dc.identifier.citationIEEE International Conference on Robotics and Automation, ICRA 2020, pp.2617 - 2623-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10203/278855-
dc.description.abstractRecent studies in radar-based navigation present promising navigation performance using scanning radars. These scanning radar-based odometry methods are mostly feature-based; they detect and match salient features within a radar image. Differing from existing feature-based methods, this paper reports on a method using direct radar odometry, PhaRaO, which infers relative motion from a pair of radar scans via phase correlation. Specifically, we apply the Fourier Mellin transform (FMT) for Cartesian and log-polar radar images to sequentially estimate rotation and translation. In doing so, we decouple rotation and translation estimations in a coarse-to-fine manner to achieve real-time performance. The proposed method is evaluated using large-scale radar data obtained from various environments. The inferred trajectory yields a 2.34% (translation) and 2.93° (rotation) Relative Error (RE) over a 4km path length on average for the odometry estimation.-
dc.languageEnglish-
dc.publisherInstitute of Electrical and Electronics Engineers Inc.-
dc.titlePhaRaO: Direct Radar Odometry using Phase Correlation-
dc.typeConference-
dc.identifier.wosid000712319501135-
dc.identifier.scopusid2-s2.0-85092745896-
dc.type.rimsCONF-
dc.citation.beginningpage2617-
dc.citation.endingpage2623-
dc.citation.publicationnameIEEE International Conference on Robotics and Automation, ICRA 2020-
dc.identifier.conferencecountryFR-
dc.identifier.conferencelocationVirtual-
dc.identifier.doi10.1109/ICRA40945.2020.9197231-
dc.contributor.localauthorKim, Ayoung-
dc.contributor.nonIdAuthorPark, Yeong Sang-
dc.contributor.nonIdAuthorShin, Young-Sik-
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