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- W3185925192 abstract "This letter presents an approach to estimating vehicle odometry on SE(3) using a high resolution automotive radar sensor. We combine a constant velocity SE(3) motion prior with a 3D radar point cloud measurement model in a sliding window optimization scheme. We leverage radar's highly precise radial velocity measurement to compensate for point cloud sparsity and improve data association. Our approach is tested using real-world measurements from a prototype high-resolution radar sensor. We demonstrate the results of this approach for 6D motion estimation. In addition, we show that our approach is comparable to state-of-the-art SE(2) radar odometry estimates while running a full order of magnitude faster." @default.
- W3185925192 created "2021-08-02" @default.
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- W3185925192 date "2021-10-01" @default.
- W3185925192 modified "2023-09-26" @default.
- W3185925192 title "Radar Odometry on $SE(3)$ With Constant Velocity Motion Prior" @default.
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- W3185925192 doi "https://doi.org/10.1109/lra.2021.3091874" @default.
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