Radar-Inertial Ego-Velocity Estimation for Visually Degraded Environments
Andrew Kramer,Carl Stahoviak,Angel Santamaria-Navarro,Ali-akbar Agha-mohammadi,Christoffer Heckman,Andrew Kramer,Carl Stahoviak,Angel Santamaria-Navarro,Ali-akbar Agha-mohammadi,Christoffer Heckman
We present an approach for estimating the body-frame velocity of a mobile robot. We combine measurements from a millimeter-wave radar-on-a-chip sensor and an inertial measurement unit (IMU) in a batch optimization over a sliding window of recent measurements. The sensor suite employed is lightweight, low-power, and is invariant to ambient lighting conditions. This makes the proposed approach an at...
