Localization and 3D Mapping Using 1D Automotive Radar Sensor

R. van Gaalen; Faruk Uysal

doi:10.1109/RadarConf2043947.2020.9266487

Localization and 3D Mapping Using 1D Automotive Radar Sensor

R. van Gaalen, Faruk Uysal

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

2 Citations (Scopus)

134 Downloads (Pure)

Abstract

This paper establishes novel methods for vehicle localization and mapping using a 1D linear automotive radar array in conjuncture with pre-existing lidar maps, and tests if the generated radar map can be made to be 3 dimensional. The basic design of this study was to implement a SLAM (Simultaneous Localization And Mapping) system that co-registers radar data to radar data, and/or register radar data to lidar data. After the execution of experiments, it was established that it is possible to localize the car by relating observed radar data to premade lidar maps, and to continually add to a cumulative map made with the radar data that can further aid the localization process. Furthermore, the radar map created using the 1D linear automotive array can be extended to 3D with proposed processing chain, though more experiments to establish the full potential of this capability are recommended.

Original language	English
Title of host publication	2020 IEEE Radar Conference, RadarConf 2020
Publisher	IEEE
Pages	1272-1277
Number of pages	6
ISBN (Electronic)	9781728189420
DOIs	https://doi.org/10.1109/RadarConf2043947.2020.9266487
Publication status	Published - Sept 2020
Event	IEEE Radar Conference - Duration: 21 Sept 2020 → 24 Sept 2020

Publication series

Name	IEEE National Radar Conference - Proceedings
Volume	2020-September
ISSN (Print)	1097-5659

Conference

Conference	IEEE Radar Conference
Period	21/09/20 → 24/09/20

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10.1109/RadarConf2043947.2020.9266487

Van_Gaalen_IEEE_RadarConf_20Accepted author manuscript, 5.06 MB

Cite this

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title = "Localization and 3D Mapping Using 1D Automotive Radar Sensor",

abstract = "This paper establishes novel methods for vehicle localization and mapping using a 1D linear automotive radar array in conjuncture with pre-existing lidar maps, and tests if the generated radar map can be made to be 3 dimensional. The basic design of this study was to implement a SLAM (Simultaneous Localization And Mapping) system that co-registers radar data to radar data, and/or register radar data to lidar data. After the execution of experiments, it was established that it is possible to localize the car by relating observed radar data to premade lidar maps, and to continually add to a cumulative map made with the radar data that can further aid the localization process. Furthermore, the radar map created using the 1D linear automotive array can be extended to 3D with proposed processing chain, though more experiments to establish the full potential of this capability are recommended. ",

author = "{van Gaalen}, R. and Faruk Uysal",

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doi = "10.1109/RadarConf2043947.2020.9266487",

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pages = "1272--1277",

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note = "IEEE Radar Conference ; Conference date: 21-09-2020 Through 24-09-2020",

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AU - van Gaalen, R.

AU - Uysal, Faruk

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N2 - This paper establishes novel methods for vehicle localization and mapping using a 1D linear automotive radar array in conjuncture with pre-existing lidar maps, and tests if the generated radar map can be made to be 3 dimensional. The basic design of this study was to implement a SLAM (Simultaneous Localization And Mapping) system that co-registers radar data to radar data, and/or register radar data to lidar data. After the execution of experiments, it was established that it is possible to localize the car by relating observed radar data to premade lidar maps, and to continually add to a cumulative map made with the radar data that can further aid the localization process. Furthermore, the radar map created using the 1D linear automotive array can be extended to 3D with proposed processing chain, though more experiments to establish the full potential of this capability are recommended.

AB - This paper establishes novel methods for vehicle localization and mapping using a 1D linear automotive radar array in conjuncture with pre-existing lidar maps, and tests if the generated radar map can be made to be 3 dimensional. The basic design of this study was to implement a SLAM (Simultaneous Localization And Mapping) system that co-registers radar data to radar data, and/or register radar data to lidar data. After the execution of experiments, it was established that it is possible to localize the car by relating observed radar data to premade lidar maps, and to continually add to a cumulative map made with the radar data that can further aid the localization process. Furthermore, the radar map created using the 1D linear automotive array can be extended to 3D with proposed processing chain, though more experiments to establish the full potential of this capability are recommended.

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M3 - Conference contribution

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Localization and 3D Mapping Using 1D Automotive Radar Sensor

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