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Observability analysis and optimal sensor placement in stereo radar odometry

AuthorsCorominas Murtra, Andreu ; Vallvé, Joan ; Solà, Joan ; Flores Abad, Ismael; Andrade-Cetto, Juan
Issue Date2016
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE Conference on Roboticand Automation: 5245-5250 (2016)
AbstractLocalization is the key perceptual process closing the loop of autonomous navigation, allowing self-driving vehi- cles to operate in a deliberate way. To ensure robust localization, autonomous vehicles have to implement redundant estimation processes, ideally independent in terms of the underlying physics behind sensing principles. This paper presents a stereo radar odometry system, which can be used as such a redundant system, complementary to other odometry estimation processes, providing robustness for long-term operability. The presented work is novel with respect to previously published methods in that it contains: (i) a detailed formulation of the Doppler error and its associated uncertainty; (ii) an observability analysis that gives the minimal conditions to infer a 2D twist from radar readings; and (iii) a numerical analysis for optimal vehicle sensor placement. Experimental results are also detailed that validate the theoretical insights.
DescriptionTrabajo presentado a la IEEE Conference on Roboticand Automation (ICRA), celebrada en Estocolmo (Suecia) del 16 al 21 de mayo de 2016.
Publisher version (URL)https://doi.org/10.1109/ICRA.2016.7487484
Identifiersdoi: 10.1109/ICRA.2016.7487484
isbn: 978-1-4673-8026-3
Appears in Collections:(IRII) Libros y partes de libros
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