Title :
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
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;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.772543
