Radar-based SLAM without odometric sensor

R. Rouveure (1) , P. Faure (1) , M.O. Monod (1)

1 UR TSCF - Technologies et systèmes d'information pour les agrosystèmes

For environmental management, remote sensing techniques are of major interest as they can provide global and local coverage of natural environments. Considering the visibility conditions that are often poor in outdoor environments (day/night cycles, clouds, shadows, fog, etc.), a microwave system offers an alternative solution in order to overcome the difficulties of use of optical sensors. In order to deal with the need of high spatial resolution, close temporal acquisition, and low-cost data availability, we developed a small-sized microwave radar sensor called K2Pi. This radar is based on the principle of Frequency-Modulated Continuous Wave (FM-CW) technology. An application in simultaneous localization and mapping using scan matching of radar images (R SLAM algorithm) has been developed in order to build radar map of the environment. Avoiding the use of odometric sensors, this SLAM algorithm allows placing the radar on every kind of vehicles. We present in this paper its potentialities through an application of natural environment mapping.

Mots clés: RADAR; CAPTEUR; RECONNAISSANCE DE LOCALISATION; CARTOGRAPHIE; SLAM; ODOMETRIC SENSOR

Domaines: Electronique

R. Rouveure, P. Faure, M.O. Monod. Radar-based SLAM without odometric sensor. ROBOTICS 2010 : International workshop of Mobile Robotics for environment/agriculture, Sep 2010, Clermont Ferrand, France. 9 p. ⟨hal-00583427⟩