DC-Loc: Accurate Automotive Radar Based Metric Localization with Explicit Doppler Compensation

Pengen Gao, Shengkai Zhang, Wei Wang, Chris Xiaoxuan Lu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

Automotive mmWave radar has been widely used in the automotive industry due to its small size, low cost, and complementary advantages to optical sensors (e.g., cameras, LiDAR, etc.) in adverse weathers, e.g., fog, raining, and snowing. On the other side, its large wavelength also poses fundamental challenges to perceive the environment. Recent advances have made breakthroughs on its inherent drawbacks, i.e., the multipath reflection and the sparsity of mmWave radar’s point clouds. However, the frequency-modulated continuous wave modulation of radar signals makes it more sensitive to vehicles’ mobility than optical sensors. This work focuses on the problem of frequency shift, i.e., the Doppler effect distorts the radar ranging measurements and its knock-on effect on metric localization. We propose a new radar-based metric localization framework, termed DC-Loc, which can obtain more accurate location estimation by restoring the Doppler distortion. Specifically, we first design a new algorithm that explicitly compensates the Doppler distortion of radar scans and then model the measurement uncertainty of the Doppler-compensated point cloud to further optimize the metric localization. Extensive experiments using the public nuScenes dataset and CARLA simulator demonstrate that our method outperforms the state-of-the-art approach by 25.2% and 5.6% improvements in terms of translation and rotation errors, respectively.
Original languageEnglish
Title of host publicationProceedings of 2022 IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages4128-5134
Number of pages7
ISBN (Electronic)978-1-7281-9681-7
ISBN (Print)978-1-7281-9682-4
DOIs
Publication statusPublished - 12 Jul 2022
Event2022 IEEE International Conference on Robotics and Automation - Philadelphia , United States
Duration: 23 May 202227 May 2022
https://www.icra2022.org/

Conference

Conference2022 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA 2022
Country/TerritoryUnited States
CityPhiladelphia
Period23/05/2227/05/22
Internet address

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