Radar

• Here, the radar means Navtech radar data.
  • For details, see https://oxford-robotics-institute.github.io/radar-robotcar-dataset/
• Radar is robust to occlusions than LiDAR in urban sites.

Yeti Radar Odometry

• Paper
  • Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation? (ICRA 2021)
• Code
  • https://github.com/keenan-burnett/yeti_radar_odometry
  • Features
    • implemented cen2018, cen2019 method with motion compensation
  • Requirements
    • need ray-wise timestamps

Tutorial: running Yeti on MulRan dataset

• see this video
  • link (TBA)

Results on MulRan dataset

• MulRan dataset

  • MulRan: Multimodal Range Dataset for Urban Place Recognition (ICRA 2019)
  • https://sites.google.com/view/mulran-pr/dataset

• Methods

  • Cen2018: Precise ego-motion estimation with millimeter-wave radar under diverse and challenging conditions (ICRA 2018)
  • Cen2019: Radar-only ego-motion estimation in difficult settings via graph matching (ICRA 2019)

• Result captures ^{1 2}

  • Left: Cen2018, Right: Cen2019
  • The trajectory color means start-blue and red-end.

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