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Laser & Optoelectronics Progress, Volume. 62, Issue 12, 1215011(2025)

Self-Supervised Learning-Based Camera-Radar Odometry Fusion Localization

Hanwen Zhang1 and Yanyang Wang1,2、*
Author Affiliations
  • 1Vehicle Measurement, Control and Safety Key Laboratory of Sichuan Province, Xihua University, Chengdu 610039, China
  • 2Provincial Engineering Research Center for New Energy Vehicle Intelligent Control and Simulation Test Technology of Sichuan, Xihua University, Chengdu 610039, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (8)
    Equations (13)
    References (26)
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    Figures & Tables(8)
    Overall network architecture of the GAE

    Fig. 1. Overall network architecture of the GAE

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    General structure of visual odometry

    Fig. 2. General structure of visual odometry

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    Structures of CDC module and LGFI module

    Fig. 3. Structures of CDC module and LGFI module

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    Differentiable view reconstruction process of radar frames

    Fig. 4. Differentiable view reconstruction process of radar frames

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    Structure of FusionNet

    Fig. 5. Structure of FusionNet

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    Comparison of depth prediction results of three algorithms

    Fig. 6. Comparison of depth prediction results of three algorithms

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    Oxford Radar RobotCar dataset test trajectories

    Fig. 7. Oxford Radar RobotCar dataset test trajectories

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    • Table 1. Trajectory errors of various algorithms in Oxford Radar RobotCar sequences

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      Table 1. Trajectory errors of various algorithms in Oxford Radar RobotCar sequences

      AlgorithmSequence
      18-14-1418-14-4618-15-20Mean16-14-15（rain）
      GRAMME（camera）8.74/1.528.11/1.4910.54/5.229.13/2.7411.04/1.62
      Proposed algorithm（camera）9.15/1.648.83/1.538.61/1.818.86/1.669.72/2.14
      GRAMME1.57/0.110.74/0.150.92/0.251.08/0.172.85/0.36
      Proposed algorithm1.32/0.130.71/0.100.39/0.250.81/0.161.58/0.32
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    Hanwen Zhang, Yanyang Wang. Self-Supervised Learning-Based Camera-Radar Odometry Fusion Localization[J]. Laser & Optoelectronics Progress, 2025, 62(12): 1215011

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    Paper Information

    Category: Machine Vision

    Received: Sep. 3, 2024

    Accepted: Jan. 7, 2025

    Published Online: Jun. 25, 2025

    The Author Email: Yanyang Wang (yywang@mail.xhu.edu.cn)

    DOI:10.3788/LOP241942

    CSTR:32186.14.LOP241942

    Topics

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