Simultaneous localisation and map building using millimetre wave radar to extract natural features

Author

Clark, S. ; Dissanayake, G.

Author_Institution

Australian Centre for Field Robotics, Sydney Univ., NSW, Australia

Volume

2

fYear

1999

fDate

1999

Firstpage

1316

Abstract

Discusses the use of a 77 GHz millimetre wave radar as a guidance sensor for autonomous land vehicle navigation. An extended Kalman filter (EKF) maintains an estimate of map features in addition to vehicle state. This map augmented EKF is implemented with radar reflectors, designed for high visibility from all orientations. An improvement on this approach enables natural features to be identified, using the polarisation of returned radar signals. Those that are suitable as navigational markers are used to update estimates of vehicle and feature locations. This method requires no a priori knowledge of the environment and no target infrastructure

Keywords

Kalman filters; feature extraction; mobile robots; nonlinear filters; path planning; radar applications; radionavigation; sensor fusion; state estimation; 77 GHz; autonomous land vehicle navigation; extended Kalman filter; guidance sensor; high visibility; localisation; map building; millimetre wave radar; natural features; navigational markers; polarisation; radar reflectors; Australia; Feature extraction; Laser radar; Navigation; Polarization; Remotely operated vehicles; Sensor phenomena and characterization; Signal processing; Simultaneous localization and mapping; State estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.772543

Filename

772543