A Radar-Oriented Approach to the Normal Distributions Transform

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review


A modification of the scan-matching technique known as the Normal Distributions Transform to be applicable to radar data is presented. The proposed modification uses the measurements of received signal power to account for possible radar cross-section (RCS) fluctuation of the scene, which is prone to cause missed detections, undesirable in scan-matching techniques. It is demonstrated that RCS fluctuations according to a Swerling III model leads to an increase of the pose estimation errors, while the proposed approach reduces the errors to values equivalent to what can be achieved in the abscence of these fluctuations.
Original languageEnglish
Title of host publicationProceedings of the 18th European Radar Conference
Number of pages4
ISBN (Electronic)978-2-87487-065-1
ISBN (Print)978-1-6654-4723-2
Publication statusPublished - 2022
EventThe 18th European Radar Conference - London, United Kingdom
Duration: 5 Apr 20227 Apr 2022


ConferenceThe 18th European Radar Conference
Country/TerritoryUnited Kingdom

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • Scan-matching
  • Swerling
  • Normal Distributions Transform


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