RadarSLAM: a robust simultaneous localization and mapping system for all weather conditions
Author(s)
Hong, Ziyang
Petillot, Yvan
Wallace, Andrew
Wang, Sen
Type
Journal Article
Abstract
A Simultaneous Localization and Mapping (SLAM) system must be robust to support long-term mobile vehicle and robot applications. However, camera and LiDAR based SLAM systems can be fragile when facing challenging illumination or weather conditions which degrade the utility of imagery and point cloud data. Radar, whose operating electromagnetic spectrum is less affected by environmental changes, is promising although its distinct sensor model and noise characteristics bring open challenges when being exploited for SLAM. This paper studies the use of a Frequency Modulated Continuous Wave radar for SLAM in large-scale outdoor environments. We propose a full radar SLAM system, including a novel radar motion estimation algorithm that leverages radar geometry for reliable feature tracking. It also optimally compensates motion distortion and estimates pose by joint optimization. Its loop closure component is designed to be simple yet efficient for radar imagery by capturing and exploiting structural information of the surrounding environment. Extensive experiments on three public radar datasets, ranging from city streets and residential areas to countryside and highways, show competitive accuracy and reliability performance of the proposed radar SLAM system compared to the state-of-the-art LiDAR, vision and radar methods. The results show that our system is technically viable in achieving reliable SLAM in extreme weather conditions on the RADIATE Dataset, for example, heavy snow and dense fog, demonstrating the promising potential of using radar for all-weather localization and mapping.
Date Issued
2022-04-01
Date Acceptance
2021-12-16
Citation
The International Journal of Robotics Research, 2022, 41 (5), pp.519-542
ISSN
0278-3649
Publisher
SAGE Publications
Start Page
519
End Page
542
Journal / Book Title
The International Journal of Robotics Research
Volume
41
Issue
5
Copyright Statement
© The Author(s) 2022. This article is distributed under the terms of the Creative Commons Attribution 4.0 License (https://creativecommons.org/licenses/by/4.0/) which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access page (https://us.sagepub.com/en-us/nam/open-access-at-sage).
License URL
Identifier
https://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000787623300001&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=a2bf6146997ec60c407a63945d4e92bb
Subjects
Science & Technology
Technology
Robotics
radar sensing
simultaneous localization and mapping
all-weather perception
SLAM
VERSATILE
Publication Status
Published
Date Publish Online
2022-04-24