Angular Super-Resolution Radar SLAM
Angular Super-Resolution Radar SLAM
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角度超分辨率雷达 SLAM
DOI：
10.1109/iros51168.2021.9636438
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Xing
中科院分区：
文献类型：
--
作者：
Zhiyuan Zeng;Xiangwei Dang;Yan;X. Bu;Xing
雷达SLAM以其全天时、全天候的工作特点在近十年来引起了广泛关注。现有的雷达SLAM系统主要采用原理简单、分辨率高的机械旋转雷达，但这种雷达存在帧率低、雷达图像失真、成本高等缺点。阵列快拍雷达虽然具有高帧频、低成本等优点，但其方位分辨率低、多径反射和角闪烁等问题限制了其在SLAM中的应用。提出了一种基于阵列快拍雷达的SLAM系统。该系统通过压缩感知实现雷达角度超分辨成像，有效解决了阵列快拍雷达方位分辨率差和多径反射问题。提出了相应的点云提取方法和扫描匹配方法，该方法在子图之间进行质心迭代最近点算法，从而有效地改善了噪声和角闪烁的干扰。实验结果表明，我们提出的阵列快照雷达SLAM系统可以减少平均绝对弹道误差的3倍以上，与现有的系统相比，并可以在各种环境下显示精度和鲁棒性。
Radar SLAM has attracted wide attention due to its all-day and all-weather working characteristics in the last decade. The existing radar SLAM systems mainly adopt mechanically pivoting radar with simple principle and high resolution, but this kind of radar has disadvantages such as low frame rate, distortion of the radar image, and high cost. Although array snapshot radar has the advantages of high frame rate and low cost, its low azimuth resolution, multipath reflection, and angular glint limit its application in SLAM. This paper proposes a SLAM system developed on array snapshot radar. The system realizes angular super-resolution radar imaging through compressed sensing, which effectively solves the problems of poor azimuth resolution and multipath reflection of array snapshot radar. We also propose the corresponding point cloud extraction method and scan matching method, this method performs a centroid iterative closest point algorithm between the submaps, thereby effectively improving the interference of noise and angular glint. Experimental results show that our proposed array snapshot radar SLAM system can reduce the mean absolute trajectory error by more than 3 times compared with the existing system, and can show accuracy and robustness in various environments.