Comparison of Two Radar-based Scanning-techniques for the Use in Robotic Mapping

Abstract

This paper will introduce two radar-based scanning-methods and evaluate their application in robotic mapping. Both approaches base upon a rotary joint, but with a fundamentally different angle estimation method to estimate object locations inside the scanning area. The first part of this paper describes the relevant theory behind both techniques and presents our considerations on erroneous influences. The focus of the second part of this paper is laying on experiments. We discuss the results of our experiments and take a look on the usability of both methods for occupancy grid mapping.