High resolution mapping of the environment with a ground-based radar imager

Author

Rouveure, R. ; Monod, M.O. ; Faure, P.

Author_Institution

Technol. & Inf. Syst. Res. Unit, Cemagref, Aubiere, France

fYear

2009

fDate

12-16 Oct. 2009

Firstpage

1

Lastpage

6

Abstract

The aim of this paper is to show the potential of the microwave radar as a sensor dedicated to outdoor perception. A new radar sensor named K2PI, based on the principle of Frequency-Modulated Continuous Wave (FM-CW) is presented here. An application in simultaneous localization and mapping using scan matching of radar images (R-SLAM algorithm) has been developed and first results in different environments are presented. Trajectories obtained by the R-Slam algorithm are compared with GPS positioning. The results show the ability of the microwave radar to build maps even in unstructured environment.

Keywords

CW radar; FM radar; Global Positioning System; SLAM (robots); radar imaging; GPS positioning; K2PI radar sensor; frequency-modulated continuous wave; ground-based radar imager; high resolution mapping; microwave radar; simultaneous localization and mapping; Frequency modulation; Image resolution; Laser radar; Microwave technology; Radar applications; Radar imaging; Sensor phenomena and characterization; Simultaneous localization and mapping; Spaceborne radar; Vehicles; Environment monitoring; microwave radar; simultaneous localization and mapping;

fLanguage

English

Publisher

ieee

Conference_Titel

Radar Conference - Surveillance for a Safer World, 2009. RADAR. International

Conference_Location

Bordeaux

Print_ISBN

978-2-912328-55-7

Type

conf

Filename

5438494