Kidnapped Radar: Topological Radar Localisation using Rotationally-Invariant Metric Learning
Ştefan Săftescu,Matthew Gadd,Daniele De Martini,Dan Barnes,Paul Newman,Ştefan Săftescu,Matthew Gadd,Daniele De Martini,Dan Barnes,Paul Newman
This paper presents a system for robust, large-scale topological localisation using Frequency-Modulated Continuous-Wave scanning radar which extends the state-of-the-art by an efficient, learning-based approach to handle radar data for localisation. We learn a metric space for embedding polar radar scans using CNN and NetVLAD architectures traditionally applied to the visual domain. However, we ta...
