Under the Radar: Learning to Predict Robust Keypoints for Odometry Estimation and Metric Localisation in Radar
Dan Barnes,Ingmar Posner,Dan Barnes,Ingmar Posner
This paper presents a self-supervised framework for learning to detect robust keypoints for odometry estimation and metric localisation in radar. By embedding a differentiable point-based motion estimator inside our architecture, we learn keypoint locations, scores and descriptors from localisation error alone. This approach avoids imposing any assumption on what makes a robust keypoint and crucia...
