What Goes Around: Leveraging a Constant-Curvature Motion Constraint in Radar Odometry
نویسندگان
چکیده
This letter presents a method that leverages vehicle motion constraints to refine data associations in point-based radar odometry system. By using the strong prior on how non-holonomic robot is constrained move smoothly through its environment, we develop necessary framework estimate ego-motion from single landmark association rather than considering all of these correspondences at once. allows for informed outlier detection poor matches are dominant source pose error. refining subset matched landmarks, see an absolute decrease 2.15% (from 4.68% 2.53%) translational error, approximately halving error (reducing by 45.94%) when full set correspondences. contribution relevant other implementations rely range sensor and provides lightweight interpretable means incorporating dynamics estimation.
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ژورنال
عنوان ژورنال: IEEE robotics and automation letters
سال: 2022
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2022.3186757