Journal article
What goes around: leveraging a constant-curvature motion constraint in radar odometry
- Abstract:
-
This letter presents a method that leverages vehicle motion constraints to refine data associations in a point-based radar odometry system. By using the strong prior on how a non-holonomic robot is constrained to move smoothly through its environment, we develop the necessary framework to estimate ego-motion from a single landmark association rather than considering all of these correspondences at once. This allows for informed outlier detection of poor matches that are a dominant source of p...
Expand abstract
- Publication status:
- Published
- Peer review status:
- Peer reviewed
Actions
Authors
Bibliographic Details
- Publisher:
- IEEE Publisher's website
- Journal:
- IEEE Robotics and Automation Letters Journal website
- Volume:
- 7
- Issue:
- 3
- Pages:
- 7865-7872
- Publication date:
- 2022-06-27
- Acceptance date:
- 2022-06-16
- DOI:
- EISSN:
-
2377-3766
Item Description
- Language:
- English
- Keywords:
- Pubs id:
-
1268845
- Local pid:
- pubs:1268845
- Deposit date:
- 2022-08-19
Terms of use
- Copyright holder:
- IEEE
- Copyright date:
- 2022
- Rights statement:
- © 2022 IEEE.
- Notes:
- This is the accepted manuscript version of the article. The final version is available online from IEEE at: https://doi.org/10.1109/LRA.2022.3186757
Metrics
If you are the owner of this record, you can report an update to it here: Report update to this record