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International Journal of Advanced Robotic Systems Mobile Ground-Based Radar Sensor for Localization and Mapping : An Evaluation of two Approaches Regular Paper

This  paper  is  concerned  with  robotic applications  using  a  ground‐based  radar  sensor  for simultaneous  localization  and  mapping  problems.  In mobile  robotics,  radar  technology  is  interesting  because of  its  long  range  and  the  robustness  of  radar waves  to atmospheric conditions, making these sensors well‐suited for  extended  outdoor  robotic  applications.  Two localization and mapping approaches using data obtained from  a  360°  field  of  view microwave  radar  sensor  are presented and compared. The first method is a trajectory‐ oriented  simultaneous  localization  and  mapping technique, which makes  no  landmark  assumptions  and avoids  the  data  association  problem.  The  estimation  of the  ego‐motion  makes  use  of  the  Fourier‐Mellin transform  for  registering  radar  images  in  a  sequence, from  which  the  rotation  and  translation  of  the  sensor motion  can be estimated. The  second approach uses  the consequence  of  using  a  rotating  range  sensor  in  high speed  robotics.  In  such  a  situation,  movement combinations  create  distortions  in  the  collected  data. Velocimetry is achieved here by explicitly analysing these measurement distortions. As a result, the trajectory of the vehicle and then the radar map of outdoor environments can  be  obtained. The  evaluation  of  experimental  results obtained by  the  two methods  is presented on real‐world data  from  a  vehicle  moving  at  30  km/h  over  a  2.5  km course.