Do We Need to Compensate for Motion Distortion and Doppler Effects in Radar-Based Navigation?
Do We Need to Compensate for Motion Distortion and Doppler Effects in Radar-Based Navigation?
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发表时间：
2020-11
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通讯作者：
Keenan Burnett;Angela P. Schoellig;T. Barfoot
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作者：
Keenan Burnett;Angela P. Schoellig;T. Barfoot
为了应对雨雪等不利天气条件的挑战，雷达正在被重新考虑作为视觉和激光雷达的并行传感方式。近年来，在将雷达应用于里程测量和位置识别方面取得了巨大进展。然而，到目前为止，这些工作都忽略了运动失真和多普勒效应对雷达导航的影响，这在速度可能很高的自动驾驶汽车领域可能很重要。在这项工作中，我们使用牛津雷达机器人汽车数据集和使用我们自己的数据采集平台的度量定位来演示这些扭曲对雷达纯里程计的影响。我们提出了一个轻量级的估计器，它可以在考虑两种影响的同时恢复一对雷达扫描之间的运动。我们的结论是运动畸变和多普勒效应在雷达导航的各个方面都很重要，但前者比后者更突出。
In order to tackle the challenge of unfavorable weather conditions such as rain and snow, radar is being revisited as a parallel sensing modality to vision and lidar. Recent works have made tremendous progress in applying radar to odometry and place recognition. However, these works have so far ignored the impact of motion distortion and Doppler effects on radar-based navigation, which may be significant in the self-driving car domain where speeds can be high. In this work, we demonstrate the effect of these distortions on radar-only odometry using the Oxford Radar RobotCar Dataset and metric localization using our own data-taking platform. We present a lightweight estimator that can recover the motion between a pair of radar scans while accounting for both effects. Our conclusion is that both motion distortion and the Doppler effect are significant in different aspects of radar navigation, with the former more prominent than the latter.