Improved Accuracy for 3D Ego-Motion Estimation Using Automotive FMCW MIMO Radar

Sen Yuan; Dingyang Wang; Francesco Fioranelli; Alexander Yarovoy

doi:10.1109/RadarConf2458775.2024.10548030

Improved Accuracy for 3D Ego-Motion Estimation Using Automotive FMCW MIMO Radar

Sen Yuan, Dingyang Wang, Francesco Fioranelli, Alexander Yarovoy

Microwave Sensing, Signals & Systems

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

Abstract

The problem of 3D ego-motion velocity estimation using multichannel Frequency Modulated Continuous Wave (FM CW) radar sensors has been studied. Special attention is given to presence of moving targets in the scene. These targets are first distinguished by the difference between the measured Doppler, and the Doppler calculated with an initial rough estimation of the vehicle ego-velocity. Then, an iterative algorithm is proposed to reduce the influence of the moving targets in the ego-motion estimation procedure, thus improving the overall accuracy. The performance of the proposed algorithm is compared with state-of-the-art alternatives based on simulated data, and superior performance has been demonstrated.

Original language	English
Title of host publication	Proceedings of the 2024 IEEE Radar Conference (RadarConf24)
Place of Publication	Piscataway
Publisher	IEEE
Number of pages	6
ISBN (Electronic)	979-8-3503-2920-9
ISBN (Print)	979-8-3503-2921-6
DOIs	https://doi.org/10.1109/RadarConf2458775.2024.10548030
Publication status	Published - 2024
Event	2024 IEEE Radar Conference, RadarConf 2024 - Denver, United States Duration: 6 May 2024 → 10 May 2024

Publication series

Name	Proceedings of the IEEE Radar Conference
ISSN (Print)	1097-5764
ISSN (Electronic)	2375-5318

Conference

Conference	2024 IEEE Radar Conference, RadarConf 2024
Country/Territory	United States
City	Denver
Period	6/05/24 → 10/05/24

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.

Keywords

automotive radar
Ego-motion estimation
multi-channel radar
velocity measurement

Access to Document

10.1109/RadarConf2458775.2024.10548030

Improved_Accuracy_for_3D_Ego-Motion_Estimation_Using_Automotive_FMCW_MIMO_RadarFinal published version, 685 KB

Cite this

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title = "Improved Accuracy for 3D Ego-Motion Estimation Using Automotive FMCW MIMO Radar",

abstract = "The problem of 3D ego-motion velocity estimation using multichannel Frequency Modulated Continuous Wave (FM CW) radar sensors has been studied. Special attention is given to presence of moving targets in the scene. These targets are first distinguished by the difference between the measured Doppler, and the Doppler calculated with an initial rough estimation of the vehicle ego-velocity. Then, an iterative algorithm is proposed to reduce the influence of the moving targets in the ego-motion estimation procedure, thus improving the overall accuracy. The performance of the proposed algorithm is compared with state-of-the-art alternatives based on simulated data, and superior performance has been demonstrated.",

keywords = "automotive radar, Ego-motion estimation, multi-channel radar, velocity measurement",

author = "Sen Yuan and Dingyang Wang and Francesco Fioranelli and Alexander Yarovoy",

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.; 2024 IEEE Radar Conference, RadarConf 2024 ; Conference date: 06-05-2024 Through 10-05-2024",

year = "2024",

doi = "10.1109/RadarConf2458775.2024.10548030",

language = "English",

isbn = "979-8-3503-2921-6",

series = "Proceedings of the IEEE Radar Conference",

publisher = "IEEE",

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Yuan, S , Wang, D , Fioranelli, F & Yarovoy, A 2024, Improved Accuracy for 3D Ego-Motion Estimation Using Automotive FMCW MIMO Radar. in Proceedings of the 2024 IEEE Radar Conference (RadarConf24). Proceedings of the IEEE Radar Conference, IEEE, Piscataway, 2024 IEEE Radar Conference, RadarConf 2024, Denver, United States, 6/05/24. https://doi.org/10.1109/RadarConf2458775.2024.10548030

Improved Accuracy for 3D Ego-Motion Estimation Using Automotive FMCW MIMO Radar. / Yuan, Sen ; Wang, Dingyang ; Fioranelli, Francesco et al.
Proceedings of the 2024 IEEE Radar Conference (RadarConf24). Piscataway: IEEE, 2024. (Proceedings of the IEEE Radar Conference).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AU - Fioranelli, Francesco

AU - Yarovoy, Alexander

N1 - 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.

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N2 - The problem of 3D ego-motion velocity estimation using multichannel Frequency Modulated Continuous Wave (FM CW) radar sensors has been studied. Special attention is given to presence of moving targets in the scene. These targets are first distinguished by the difference between the measured Doppler, and the Doppler calculated with an initial rough estimation of the vehicle ego-velocity. Then, an iterative algorithm is proposed to reduce the influence of the moving targets in the ego-motion estimation procedure, thus improving the overall accuracy. The performance of the proposed algorithm is compared with state-of-the-art alternatives based on simulated data, and superior performance has been demonstrated.

AB - The problem of 3D ego-motion velocity estimation using multichannel Frequency Modulated Continuous Wave (FM CW) radar sensors has been studied. Special attention is given to presence of moving targets in the scene. These targets are first distinguished by the difference between the measured Doppler, and the Doppler calculated with an initial rough estimation of the vehicle ego-velocity. Then, an iterative algorithm is proposed to reduce the influence of the moving targets in the ego-motion estimation procedure, thus improving the overall accuracy. The performance of the proposed algorithm is compared with state-of-the-art alternatives based on simulated data, and superior performance has been demonstrated.

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Improved Accuracy for 3D Ego-Motion Estimation Using Automotive FMCW MIMO Radar

Abstract

Publication series

Conference

Bibliographical note

Keywords

Access to Document

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3D motion-based high-resolution imaging techniques for automotive radar

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