A 4D imaging radar SLAM system for large-scale environments based on pose graph optimization

• 主要作者: Zhuge, Huayang
• 其他作者: Wang Dan Wei
• 格式: Thesis-Master by Coursework
• 語言: English
• 出版: Nanyang Technological University 2023
• 主題: Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• 在線閱讀: https://hdl.handle.net/10356/165315
• 機構: Nanyang Technological University

LiDAR-based SLAM may easily fail in adverse weathers (e.g., rain, snow, smoke, fog), while mmWave Radar remains unaffected. However, current researches are primarily focused on 2D (x,y) or 3D (x,y,doppler) Radar and 3D LiDAR (x,y,z), while limited work can be found for 4D Radar (x,y,z,doppler). As a...