Odométrie radar par analyse de la distorsion - Application à un véhicule roulant à vitesse élevée

Abstract : The use of a rotating range sensor in high speed robotics creates distortions in the collected data. Such an effect is, in the majority of studies, ignored or considered as a noise and then corrected, based on proprioceptive sensors or localization systems. In this study we consider that distortion contains the information about the vehicle's displacement. We propose to extract this information from distortion without any other information than exteroceptive sensor data. The only sensor used for this work is a panoramic Frequency Modulated Continuous Wave (FMCW) radar called K2Pi. No odometer, gyrometer or other proprioceptive sensor is used. The idea is to resort to velocimetry by analyzing the distortion of the measurements. As a result, the linear and angular velocities of the mobile robot are estimated and used to build, without any other sensor, the trajectory of the vehicle and then the radar map of outdoor environments. In this paper, radar-only localization and mapping results are presented for a ground vehicle application. This work can easily be extended to other slow rotating range sensors
Liste complète des métadonnées

Cited literature [18 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-00656486
Contributor : Amélie Cordier <>
Submitted on : Tuesday, January 17, 2012 - 1:22:23 PM
Last modification on : Thursday, January 11, 2018 - 6:17:21 AM
Document(s) archivé(s) le : Wednesday, April 18, 2012 - 2:20:23 AM

File

rfia2012_submission_8.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-00656486, version 1

Citation

Damien Vivet, Paul Checchin, Chapuis Roland. Odométrie radar par analyse de la distorsion - Application à un véhicule roulant à vitesse élevée. RFIA 2012 (Reconnaissance des Formes et Intelligence Artificielle), Jan 2012, Lyon, France. pp.978-2-9539515-2-3, 2012. 〈hal-00656486〉

Share

Metrics

Record views

382

Files downloads

404