亜寒帯環境の高傾斜ダイナミクス下でのレーダオドメトリ
Radar Odometry Subject to High Tilt Dynamics of Subarctic Environments
亜寒帯の急傾斜地形で既存のレーダオドメトリ手法を評価し、傾斜に頑健な新しいレーダ慣性オドメトリ手法を提案した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
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著者: Matěj Boxan, William Larrivée-Hardy, François Pomerleau
分類: cs.RO
原文アブストラクト
Rotating FMCW radar odometry methods often assume flat ground conditions. While this assumption is sufficient in many scenarios, including urban environments or flat mining setups, the highly dynamic terrain of subarctic environments poses a challenge to standard feature extraction and state estimation techniques. This paper benchmarks three existing radar odometry methods under demanding conditions, exhibiting up to 13{\deg} in pitch and 4{\deg} in roll difference between consecutive scans, with absolute pitch and roll reaching 30{\deg} and 8{\deg}, respectively. Furthermore, we propose a novel radar-inertial odometry method utilizing tilt-proximity submap search and a hard threshold for vertical displacement between scan points and the estimated axis of rotation. Experimental results demonstrate a state-of-the-art performance of our method on an urban baseline and a 0.3% improvement over the second-best comparative method on a 2-kilometer-long dynamic trajectory. Finally, we analyze the performance of the four evaluated methods on a complex radar sequence characterized by high lateral slip and a steep ditch traversal.
