4D millimeter wave radar scattering angle feature calculation For SLAM

Jun Zhang; Yang Li; Yanping Wang

doi:10.1117/12.3031614

18 July 2024 4D millimeter wave radar scattering angle feature calculation For SLAM

Jun Zhang, Yang Li, Yanping Wang

Proceedings Volume 13179, International Conference on Optics and Machine Vision (ICOMV 2024); 131790R (2024) https://doi.org/10.1117/12.3031614
Event: International Conference on Optics and Machine Vision (ICOMV 2024), 2024, Nanchang, China

Abstract

In the current field of autonomous driving, millimeter-wave radar serves as an important complement to optical sensors in Simultaneous Localization and Mapping (SLAM) technology. Due to its ability to penetrate visual obstacles like dense smoke, millimeter-wave radar has become a key tool for localization and navigation in adverse weather conditions such as rain and snow. Particularly, the emergence of 4D millimeter-wave radar has provided an expansion of point cloud data from two-dimensional to three-dimensional. However, in the SLAM field, research on 4D millimeter-wave radar is still lacking. Due to its resolution and point cloud density limitations, it is difficult for 4D millimeter-wave radar to extract geometric features, such as edges and planes. Therefore, contemporary approaches predominantly utilize characteristics of spatial statistical distributions. However, these methodologies do not adequately exploit the scattering features in synergy with the SLAM process. This paper proposes a SLAM algorithm based on Scattering Angle Feature Model. In the algorithm's front-end, scattering angle feature constraints are introduced to enhance semantic information recognition during the scan matching process. This paper presents a computational method for three-dimensional scattering angle features, which is applied in front-end scan matching. At last, by collecting 4D millimeter-wave radar data from real-world scenarios, it was verified that scattering angle features have improved SLAM performance. These results confirm that scattering angle features can enhance the accuracy of pose estimation.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Jun Zhang, Yang Li, and Yanping Wang "4D millimeter wave radar scattering angle feature calculation For SLAM", Proc. SPIE 13179, International Conference on Optics and Machine Vision (ICOMV 2024), 131790R (18 July 2024); https://doi.org/10.1117/12.3031614

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
6 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Scattering

Radar

Point clouds

3D modeling

Data processing

Error analysis

Extremely high frequency

Show All Keywords

Keywords/Phrases

Search In:

Publication Years