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

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

Yelan Wu1、*, Junjing Zhang1, Chongchong Yu1, Tong Zheng1, Wenbin Feng2,3, Weipeng Zhang1, and Kaitai Xiao2,3
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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    [1] Zhang J, Xiao R X, Li H S et al. 4DRT-SLAM: robust SLAM in smoke environments using 4D radar and thermal camera based on dense deep learnt features[C], 19-24(2023).

    [2] Yang S, Choi M, Han S et al. 4D radar-camera sensor fusion for robust vehicle pose estimation in foggy environments[J]. IEEE Access, 12, 16178-16188(2024).

    [3] Zhou Y, Liu L L, Zhao H C et al. Towards deep radar perception for autonomous driving: datasets, methods, and challenges[J]. Sensors, 22, 4208(2022).

    [4] Han Z Y, Wang J H, Xu Z K et al. 4D millimeter-wave radar in autonomous driving: a survey[EB/OL]. https://arxiv.org/abs/2306.04242v4

    [5] Burnett K, Schoellig A P, Barfoot T D. Do we need to compensate for motion distortion and Doppler effects in spinning radar navigation?[J]. IEEE Robotics and Automation Letters, 6, 771-778(2021).

    [6] Zeng Z Y, Dang X W, Li Y L et al. Angular super-resolution radar SLAM[C], 5456-5461(2021).

    [7] Holder M, Hellwig S, Winner H. Real-time pose graph SLAM based on radar[C], 1145-1151(2019).

    [8] Kung P C, Wang C C, Lin W C. A normal distribution transform-based radar odometry designed for scanning and automotive radars[C], 14417-14423(2021).

    [9] Shan T X, Englot B. LeGO-LOAM: lightweight and ground-optimized lidar odometry and mapping on variable terrain[C], 4758-4765(2018).

    [10] Zhang J, Zhuge H Y, Wu Z Y et al. 4DRadarSLAM: a 4D imaging radar SLAM system for large-scale environments based on pose graph optimization[C], 8333-8340(2023).

    [11] Wang H, Wang C, Xie L H. Intensity scan context: coding intensity and geometry relations for loop closure detection[C], 2095-2101(2020).

    [12] Li X Y, Zhang H, Chen W D. 4D radar-based pose graph SLAM with ego-velocity pre-integration factor[J]. IEEE Robotics and Automation Letters, 8, 5124-5131(2023).

    [13] Galeote-Luque A, Kubelka V, Magnusson M et al. Doppler-only single-scan 3D vehicle odometry[C], 13703-13709(2024).

    [14] Zhuang Y, Wang B L, Huai J Z et al. 4D iRIOM: 4D imaging radar inertial odometry and mapping[J]. IEEE Robotics and Automation Letters, 8, 3246-3253(2023).

    [15] Wang B, Zhuang Y, El-Bendary N. 4D radar/IMU/GNSS integrated positioning and mapping for large-scale environments[J]. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 48, 1223-1228(2023).

    [16] Doer C, Trommer G F. An EKF based approach to radar inertial odometry[C], 152-159(2020).

    [17] Doer C, Trommer G F. Yaw aided radar inertial odometry using Manhattan world assumptions[C](2021).

    [18] Doer C, Atman J, Trnmmer G F. GNSS aided radar inertial odometry for UAS flights in challenging conditions[C](2022).

    [19] Li Y, Liu Y T, Wang Y P et al. The millimeter-wave radar SLAM assisted by the RCS feature of the target and IMU[J]. Sensors, 20, 5421(2020).

    [20] Shi L F, Lü Y F, Yin W et al. Autonomous multiframe point cloud fusion method for mmWave radar[J]. IEEE Transactions on Instrumentation and Measurement, 72, 4505708(2023).

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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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    Paper Information

    Category: Machine Vision

    Received: Oct. 22, 2024

    Accepted: Nov. 18, 2024

    Published Online: Jan. 3, 2025

    The Author Email:

    DOI:10.3788/LOP242144

    CSTR:32186.14.LOP242144

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology