Matches in SemOpenAlex for { <https://semopenalex.org/work/W4383066445> ?p ?o ?g. }
Showing items 1 to 83 of
83
with 100 items per page.
- W4383066445 abstract "In this paper, we present a Radar-Inertial Odometry (RIO) approach that utilizes performance improving modules, enhanced for the sparse and noisy radar signals, from the vision community in order to estimate the full 6DoF pose and 3D velocity of a robot in an unprepared environment. Our method leverages a multi-state approach in which we make use of several past robot poses and trails of measurements from a lightweight and inexpensive Frequency Modulated Continuous Wave (FMCW) radar sensor. Furthermore, in our estimation framework we include a method for promoting measurement trails to persistent landmarks which correspond to salient features in the environment. In an Extended Kalman Filter (EKF) framework, we fuse the range measurements to the persistent landmarks, trails, and the velocity measurements of the detected 3D points together with the Inertial Measurement Unit (IMU) readings. Our method is particularly relevant for (but not limited to) Unmanned Aerial Vehicles (UAV), enabling them to localize while performing missions in Global Navigation Satellite System (GNSS)-denied environments and, thanks to the properties of the radar sensor, in environments generally challenging for robot perception due to external factors such as smoke or extreme illumination. We show in real flight experiments the effectiveness of our estimator and compare it to the state-of-the-art." @default.
- W4383066445 created "2023-07-05" @default.
- W4383066445 creator A5038552816 @default.
- W4383066445 creator A5068613728 @default.
- W4383066445 creator A5075449650 @default.
- W4383066445 creator A5081752893 @default.
- W4383066445 date "2023-05-29" @default.
- W4383066445 modified "2023-09-27" @default.
- W4383066445 title "Multi-State Tightly-Coupled EKF-Based Radar-Inertial Odometry With Persistent Landmarks" @default.
- W4383066445 cites W1966871700 @default.
- W4383066445 cites W2049981393 @default.
- W4383066445 cites W2050982928 @default.
- W4383066445 cites W2098860918 @default.
- W4383066445 cites W2134837751 @default.
- W4383066445 cites W2150560561 @default.
- W4383066445 cites W2765353398 @default.
- W4383066445 cites W2890714858 @default.
- W4383066445 cites W2963235919 @default.
- W4383066445 cites W3009950332 @default.
- W4383066445 cites W3087767329 @default.
- W4383066445 cites W3089835902 @default.
- W4383066445 cites W3090913682 @default.
- W4383066445 cites W3090925395 @default.
- W4383066445 cites W3108683416 @default.
- W4383066445 cites W3174203047 @default.
- W4383066445 cites W3186729138 @default.
- W4383066445 cites W4283313978 @default.
- W4383066445 cites W4313010044 @default.
- W4383066445 doi "https://doi.org/10.1109/icra48891.2023.10160482" @default.
- W4383066445 hasPublicationYear "2023" @default.
- W4383066445 type Work @default.
- W4383066445 citedByCount "0" @default.
- W4383066445 crossrefType "proceedings-article" @default.
- W4383066445 hasAuthorship W4383066445A5038552816 @default.
- W4383066445 hasAuthorship W4383066445A5068613728 @default.
- W4383066445 hasAuthorship W4383066445A5075449650 @default.
- W4383066445 hasAuthorship W4383066445A5081752893 @default.
- W4383066445 hasConcept C121332964 @default.
- W4383066445 hasConcept C128651787 @default.
- W4383066445 hasConcept C154945302 @default.
- W4383066445 hasConcept C157286648 @default.
- W4383066445 hasConcept C173386949 @default.
- W4383066445 hasConcept C19966478 @default.
- W4383066445 hasConcept C206833254 @default.
- W4383066445 hasConcept C31972630 @default.
- W4383066445 hasConcept C41008148 @default.
- W4383066445 hasConcept C49441653 @default.
- W4383066445 hasConcept C554190296 @default.
- W4383066445 hasConcept C62520636 @default.
- W4383066445 hasConcept C76155785 @default.
- W4383066445 hasConcept C79061980 @default.
- W4383066445 hasConcept C90509273 @default.
- W4383066445 hasConceptScore W4383066445C121332964 @default.
- W4383066445 hasConceptScore W4383066445C128651787 @default.
- W4383066445 hasConceptScore W4383066445C154945302 @default.
- W4383066445 hasConceptScore W4383066445C157286648 @default.
- W4383066445 hasConceptScore W4383066445C173386949 @default.
- W4383066445 hasConceptScore W4383066445C19966478 @default.
- W4383066445 hasConceptScore W4383066445C206833254 @default.
- W4383066445 hasConceptScore W4383066445C31972630 @default.
- W4383066445 hasConceptScore W4383066445C41008148 @default.
- W4383066445 hasConceptScore W4383066445C49441653 @default.
- W4383066445 hasConceptScore W4383066445C554190296 @default.
- W4383066445 hasConceptScore W4383066445C62520636 @default.
- W4383066445 hasConceptScore W4383066445C76155785 @default.
- W4383066445 hasConceptScore W4383066445C79061980 @default.
- W4383066445 hasConceptScore W4383066445C90509273 @default.
- W4383066445 hasLocation W43830664451 @default.
- W4383066445 hasOpenAccess W4383066445 @default.
- W4383066445 hasPrimaryLocation W43830664451 @default.
- W4383066445 hasRelatedWork W2019203251 @default.
- W4383066445 hasRelatedWork W2032661508 @default.
- W4383066445 hasRelatedWork W2060890775 @default.
- W4383066445 hasRelatedWork W2554592351 @default.
- W4383066445 hasRelatedWork W2560232609 @default.
- W4383066445 hasRelatedWork W2758253288 @default.
- W4383066445 hasRelatedWork W2889530985 @default.
- W4383066445 hasRelatedWork W2890689110 @default.
- W4383066445 hasRelatedWork W3006502707 @default.
- W4383066445 hasRelatedWork W2165914128 @default.
- W4383066445 isParatext "false" @default.
- W4383066445 isRetracted "false" @default.
- W4383066445 workType "article" @default.