Motion Estimation from Map Quality with Millimeter Wave Radar

摘要

Simultaneous localization and mapping (SLAM) builds maps of a priori unknown environments. Whilst this key mobile robotic competency continues to receive substantial attention, less attention has been paid to assessing the quality of the resulting maps. This paper proposes a way to quantify the intrinsic quality of point-cloud maps built from a stream of range bearing measurements. It does so by considering both the temporal and spatial distribution of the points within the map. One of the causes of unsatisfactory maps is the execution of unmodelled or poorly sensed vehicle manoeuvres. In this paper we show that by maximizing the quality of the map as a function of a motion parameterization, the vehicle motion can be recovered while correcting the map at the same time. In contrast to typical scan matching techniques, we do not rely on segmentation of the measurement stream into two separate "scans"; Instead we treat the measurement sequence as a continuous signal. We illustrate the efficacy of this approach by processing range data from a 77 GHz millimeter wave radar that completes 2 rotations per second. We show that despite this acquisition speed being commensurate with vehicle rotation rates, we are able to extract the underlying vehicle motion and yield crisp, well aligned point clouds