Spatial-Radon and Doppler Aggregated Radar Odometry

Abstract

In this paper, a radar-only 2D odometry estimation algorithm is presented. The algorithm stands out by proposing a statistically robust method for aggregating two sources of rotation estimation obtained using radar generated images. The proposed idea was evaluated using real-world data collected with a radar mounted on a mobile robot. When compared to two other alternative algorithms, the proposed method achieved an improvement in the average absolute relative pose error of up to 30.2% and 45% in the translation and rotation part respectively.