Radar Odometry For Vehicle

• Main Authors: Lakehal-ayat, Mohsen, Oh, Jinhyoung
• Format: Patent
• Language: English
• Published: 05.12.2019
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CONTROLLING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING

Techniques and examples pertaining to vehicle odometry using one or more radars disposed on a vehicle are described. A method for radar odometry may involve receiving, by a processor from the radars, measurement data of stationary objects and moving objects that are located in an environment a vehicle is traversing. The method may also involve performing, by the processor, a random sample consensus (RANSAC) calculation to select the measurement data of the stationary objects and disregard the measurement data of the moving objects. The method may also involve calculating, by the processor, one or more dynamic variables of the vehicle based on the measurement data of the stationary objects. The proposed method processes the measurement data of the stationary objects with one single RANSAC calculation and one least squares problem solving, thereby greatly reducing computation cost and time as well as latency in operation for providing the vehicle odometry.