2D Ego-Motion with Yaw Estimation using Only mmWave Radars via Two-Way weighted ICP
arxiv(2024)
摘要
The interest in single-chip mmWave Radar is driven by their compact form
factor, cost-effectiveness, and robustness under harsh environmental
conditions. Despite its promising attributes, the principal limitation of
mmWave radar lies in its capacity for autonomous yaw rate estimation.
Conventional solutions have often resorted to integrating inertial measurement
unit (IMU) or deploying multiple radar units to circumvent this shortcoming.
This paper introduces an innovative methodology for two-dimensional ego-motion
estimation, focusing on yaw rate deduction, utilizing solely mmWave radar
sensors. By applying a weighted Iterated Closest Point (ICP) algorithm to
register processed points derived from heatmap data, our method facilitates 2D
ego-motion estimation devoid of prior information. Through experimental
validation, we verified the effectiveness and promise of our technique for
ego-motion estimation using exclusively radar data.
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