Joint spatial- and Doppler-based ego-motion estimation for automotive radars | IEEE Conference Publication | IEEE Xplore

Joint spatial- and Doppler-based ego-motion estimation for automotive radars


Abstract:

An ego-motion estimation method based on the spatial and Doppler information obtained by an automotive radar is proposed. The estimation of the motion state vector is per...Show More

Abstract:

An ego-motion estimation method based on the spatial and Doppler information obtained by an automotive radar is proposed. The estimation of the motion state vector is performed in a density-based framework. Compared to standard vehicle odometry the approach is capable to estimate the full two dimensional motion state with three degrees of freedom. The measurement of a Doppler radar sensor is represented as a mixture of Gaussians. This mixture is matched with the mixture of a previous measurement by applying the appropriate egomotion transformation. The parameters of the transformation are found by the optimization of a suitable join metric. Due to the Doppler information the method is very robust against disturbances by moving objects and clutter. It provides excellent results for highly nonlinear movements. Real world results of the proposed method are presented. The measurements are obtained by a 77GHz radar sensor mounted on a test vehicle. A comparison using a high-precision inertial measurement unit with differential GPS support is made. The results show a high accuracy in velocity and yaw-rate estimation.
Date of Conference: 28 June 2015 - 01 July 2015
Date Added to IEEE Xplore: 27 August 2015
ISBN Information:
Print ISSN: 1931-0587
Conference Location: Seoul, Korea (South)

References

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