Automotive radar gridmap representations

摘要

In robotic applications gridmaps are a common representation of the environment. For the automotive field, radar as sensing technology is suitable due to its robustness. This paper presents two radar-based grid-mapping algorithms for automotive applications like self-localization. These algorithms involve first an amplitude-based approach, which gains information about the RCS of all targets, and second an occupancy grid-mapping approach with an adapted inverse sensor measurement model. Experiments show that both gridmapping algorithms result in adequate representations of the environment.