4DRadarSLAM: A 4D Imaging Radar SLAM System for Large-scale Environments based on Pose Graph Optimization
Jun Zhang,Huayang Zhuge,Zhenyu Wu,Guohao Peng,Mingxing Wen,Yiyao Liu,Danwei Wang,Jun Zhang,Huayang Zhuge,Zhenyu Wu,Guohao Peng,Mingxing Wen,Yiyao Liu,Danwei Wang
LiDAR-based SLAM may easily fail in adverse weathers (e.g., rain, snow, smoke, fog), while mmWave Radar remains unaffected. However, current researches are primarily focused on 2D $(x,y)$ or 3D ($x, y$, doppler) Radar and 3D LiDAR, while limited work can be found for 4D Radar ($x, y, z$, doppler). As a new entrant to the market with unique characteristics, 4D Radar outputs 3D point cloud with adde...
