Milli-RIO: 低コストミリ波レーダによる自己運動推定
Milli-RIO: Ego-Motion Estimation with Low-Cost Millimetre-Wave Radar
単一チップの低コストミリ波レーダとIMUを組み合わせ、移動するレーダの6自由度自己運動を推定する手法を提案し、屋内測位で数cm精度を達成した。
著者: Yasin Almalioglu, Mehmet Turan, Chris Xiaoxuan Lu, Niki Trigoni, Andrew Markham
分類: eess.SP, cs.RO
原文アブストラクト
Robust indoor ego-motion estimation has attracted significant interest in the last decades due to the fast-growing demand for location-based services in indoor environments. Among various solutions, frequency-modulated continuous-wave (FMCW) radar sensors in millimeter-wave (MMWave) spectrum are gaining more prominence due to their intrinsic advantages such as penetration capability and high accuracy. Single-chip low-cost MMWave radar as an emerging technology provides an alternative and complementary solution for robust ego-motion estimation, making it feasible in resource-constrained platforms thanks to low-power consumption and easy system integration. In this paper, we introduce Milli-RIO, an MMWave radar-based solution making use of a single-chip low-cost radar and inertial measurement unit sensor to estimate six-degrees-of-freedom ego-motion of a moving radar. Detailed quantitative and qualitative evaluations prove that the proposed method achieves precisions on the order of few centimeters for indoor localization tasks.
