CFEAR Radarodometry - Conservative Filtering for Efficient and Accurate Radar Odometry
Daniel Adolfsson,Martin Magnusson,Anas Alhashimi,Achim J. Lilienthal,Henrik Andreasson,Daniel Adolfsson,Martin Magnusson,Anas Alhashimi,Achim J. Lilienthal,Henrik Andreasson
This paper presents an accurate, highly efficient and learning free method for large-scale radar odometry estimation. By using a simple filtering technique that keeps the strongest returns, we produce a clean radar data representation and reconstruct surface normals for efficient and accurate scan matching. Registration is carried out by minimizing a point-to-line metric and robustness to outliers...
