论文标题
周围发生的事情：利用雷达频道中的恒定曲面运动约束
What Goes Around: Leveraging a Constant-curvature Motion Constraint in Radar Odometry
论文作者
论文摘要
本文提出了一种利用车辆运动限制的方法，以在基于点的雷达辐射系统中完善数据关联。通过对非全面机器人如何在环境中平稳移动的强大先验，我们开发了必要的框架来估计单个地标关联的自我动作，而不是一次考虑所有这些对应关系。这允许对差匹配的较差匹配的可见异常检测，这是姿势估计误差的主要来源。通过完善匹配地标的子集，我们看到翻译误差的绝对降低2.15％（从4.68％到2.53％），大约比使用完整的对应关系时的探空仪（减少45.94％）的误差（减少了45.94％）。该贡献与依赖范围传感器的其他基于点的探针计实现相关，并提供了一种轻巧且可解释的方法，用于将车辆动力学纳入自我运动估计。
This paper presents a method that leverages vehicle motion constraints to refine data associations in a point-based radar odometry system. By using the strong prior on how a non-holonomic robot is constrained to move smoothly through its environment, we develop the necessary framework to estimate ego-motion from a single landmark association rather than considering all of these correspondences at once. This allows for informed outlier detection of poor matches that are a dominant source of pose estimate error. By refining the subset of matched landmarks, we see an absolute decrease of 2.15% (from 4.68% to 2.53%) in translational error, approximately halving the error in odometry (reducing by 45.94%) than when using the full set of correspondences. This contribution is relevant to other point-based odometry implementations that rely on a range sensor and provides a lightweight and interpretable means of incorporating vehicle dynamics for ego-motion estimation.
