ロボティクスにおけるミリ波レーダー応用の新潮流：最新動向サーベイ
A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics
76-81GHz帯のFMCWミリ波レーダーをロボットに応用する研究を、自己位置推定・地図生成から物体検出・分類まで幅広く調査し、データセットやキャリブレーション手法と今後の展望をまとめたサーベイ論文。
著者: Kyle Harlow, Hyesu Jang, Timothy D. Barfoot, Ayoung Kim, Christoffer Heckman
分類: cs.RO
原文アブストラクト
We survey the current state of millimeterwave (mmWave) radar applications in robotics with a focus on unique capabilities, and discuss future opportunities based on the state of the art. Frequency Modulated Continuous Wave (FMCW) mmWave radars operating in the 76--81GHz range are an appealing alternative to lidars, cameras and other sensors operating in the near visual spectrum. Radar has been made more widely available in new packaging classes, more convenient for robotics and its longer wavelengths have the ability to bypass visual clutter such as fog, dust, and smoke. We begin by covering radar principles as they relate to robotics. We then review the relevant new research across a broad spectrum of robotics applications beginning with motion estimation, localization, and mapping. We then cover object detection and classification, and then close with an analysis of current datasets and calibration techniques that provide entry points into radar research.
