4D Millimeter-Wave Radar SLAM Based on Local Frame Fusion

Yelan Wu; Junjing Zhang; Chongchong Yu; Tong Zheng; Wenbin Feng; Weipeng Zhang; Kaitai Xiao

doi:10.3788/LOP242144

Laser & Optoelectronics Progress, Volume. 62, Issue 2, 0215009(2025)

4D Millimeter-Wave Radar SLAM Based on Local Frame Fusion

Yelan Wu^1、*, Junjing Zhang¹, Chongchong Yu¹, Tong Zheng¹, Wenbin Feng^2,3, Weipeng Zhang¹, and Kaitai Xiao^2,3

Author Affiliations

¹School of Computer and Artificial Intelligence, Beijing Technology and Business University, Beijing 100048,China

²State Key Laboratory of Coal Mine Safety Technology, Fushun 113122, Liaoning China

³CCTEG Shenyang Research Institute, Fushun 113122, Liaoning China

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Figures & Tables(13)

Fig. 1. System overall framework

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Fig. 2. Ego-velocity estimation diagram

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Fig. 3. Local frame fusion diagram. (a)Aerial view of single frame point cloud; (b)aerial view of fusion frame point cloud

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Fig. 4. Process of descriptor construction. (a) Point cloud division; (b) descriptor

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Fig. 5. Schematic of system factor graph

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Fig. 6. Trajectory and error curve comparison diagram of NTU dataset. (a) cp sequence trajectory comparison; (b) cp sequence error curve comparison; (c) garden sequence trajectory comparison; (d) garden sequence error curve comparison

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Fig. 7. Trajectory and error curve comparison diagram of ablation experiment. (a) Campus1 sequence trajectory comparison; (b) Campus1 sequence error curve comparison

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Fig. 8. Time of scanning matching methods for cp sequence

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Fig. 9. Point cloud map diagram. (a) Proposed SLAM on cp sequence; (b) proposed SLAM on garden sequence; (c) proposed SLAM on Campus1 sequence; (d) 4DRadarSLAM on cp sequence; (e) 4DRadarSLAM on garden sequence; (f) 4DRadarSLAM on Campus1 sequence

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Table 1. Radar parameter
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Table 1. Radar parameter
Radar parameter Oculii eagle ZF FRGen21
Range /m 350 100
Azimuth /（°） 120 150
Elevation /（°） 30 30
Velocity /（m/s） 55 40
Number of points 2500‒6500 400‒1400

Table 2. Odometer trajectory errors on NTU dataset

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Table 2. Odometer trajectory errors on NTU dataset

Sequence	Algorithm	ATE			RPE
Sequence	Algorithm	$t_{m a x}$ /m	$t_{r m s e}$ /m	$t_{s t d}$ /m	$t_{r e l}$ /%	$r_{r e l}$ /［（°）/m］
cp	4DRadarSLAM odometry	4.66	2.31	1.09	4.54	0.053
cp	Proposed SLAM odometry	3.39	1.88	0.90	4.09	0.044
garden	4DRadarSLAM odometry	6.57	3.10	1.74	4.57	0.050
garden	Proposed SLAM odometry	3.75	1.49	0.77	2.78	0.034
nyl	4DRadarSLAM odometry	21.39	7.67	3.88	3.67	0.020
nyl	Proposed SLAM odometry	14.76	6.60	2.77	2.82	0.019

Table 3. System trajectory errors on NTU dataset

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Table 3. System trajectory errors on NTU dataset

Sequence	Algorithm	ATE			RPE
Sequence	Algorithm	$t_{m a x}$ /m	$t_{r m s e}$ /m	$t_{s t d}$ /m	$t_{r e l}$ /%	$r_{r e l}$ /［（°）/m］
cp	4DRadarSLAM	1.71	0.82	0.36	3.03	0.055
cp	Proposed SLAM	1.58	0.79	0.35	2.89	0.050
garden	4DRadarSLAM	1.87	0.98	0.42	2.09	0.031
garden	Proposed SLAM	1.45	0.89	0.32	1.63	0.031
nyl	4DRadarSLAM	7.35	3.82	1.23	2.80	0.018
nyl	Proposed SLAM	7.03	3.62	1.37	2.97	0.019

Table 4. System trajectory errors on ARL dataset

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Table 4. System trajectory errors on ARL dataset

Sequence	Algorithm	ATE			RPE
Sequence	Algorithm	$t_{m a x}$ /m	$t_{r m s e}$ /m	$t_{s t d}$ /m	$t_{r e l}$ /%	$r_{r e l}$ /［（°）/m］
Campus1	Single frame GICP	7.88	3.87	1.20	0.66	0.008
Campus1	Local frame GICP	6.60	2.68	1.08	0.54	0.007
Campus2	Single frame GICP	35.63	15.90	7.94	8.92	0.013
Campus2	Local frame GICP	22.50	11.01	4.19	5.92	0.009
Campus3	Single frame GICP	38.41	22.83	8.54	8.83	0.026
Campus3	Local frame GICP	27.00	15.69	6.53	7.44	0.021

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Yelan Wu, Junjing Zhang, Chongchong Yu, Tong Zheng, Wenbin Feng, Weipeng Zhang, Kaitai Xiao. 4D Millimeter-Wave Radar SLAM Based on Local Frame Fusion[J]. Laser & Optoelectronics Progress, 2025, 62(2): 0215009

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