Radar Scan Matching SLAM Using the Fourier-Mellin Transform

被引：0

作者：

Checchin, Paul ^{[1
]}

Gerossier, Franck ^{[1
]}

Blanc, Christophe ^{[1
]}

Chapuis, Roland ^{[1
]}

Trassoudaine, Laurent ^{[1
]}

机构：

[1] Univ Blaise Pascal, Clermont Univ, LASMEA, F-63000 Clermont Ferrand, France

来源：

FIELD AND SERVICE ROBOTICS | 2010年 / 62卷

关键词：

REGISTRATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper is concerned with the Simultaneous Localization And Mapping (SLAM) problem using data obtained from a microwave radar sensor. The radar scanner is based on Frequency Modulated Continuous Wave (FMCW) technology. In order to meet the needs of radar image analysis complexity, a trajectory-oriented EKF-SLAM technique using data from a 3600 field of view radar sensor has been developed. This process makes no landmark assumptions and avoids the data association problem. The method of egomotion estimation makes use of the Fourier-Mellin Transform for registering radar images in a sequence, from which the rotation and translation of the sensor motion can be estimated. In the context of the scan-matching SLAM, the use of the Fourier-Mellin Transform is original and provides an accurate and efficient way of computing the rigid transformation between consecutive scans. Experimental results on real-world data are presented.

引用

页码：151 / 161

页数：11

共 50 条

[1] Fourier-Mellin transform based image matching algorithm
Dasgupta, B
Chatterji, BN
[J]. JOURNAL OF THE INSTITUTION OF ELECTRONICS AND TELECOMMUNICATION ENGINEERS, 1996, 42 (01): : 3 - 9
[2] Trajectory-oriented EKF-SLAM using the Fourier-Mellin Transform applied to Microwave Radar Images
Gerossier, Franck
Checchin, Paul
Blanc, Christophe
Chapuis, Roland
Trassoudaine, Laurent
[J]. 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, : 4925 - 4930
[3] Unsupervised matching of visual landmarks for robotic homing using Fourier-Mellin transform
Cassinis, R
Duina, D
Inelli, S
Rizzi, A
[J]. ROBOTICS AND AUTONOMOUS SYSTEMS, 2002, 40 (2-3) : 131 - 138
[4] Unsupervised matching of visual landmarks for robotic homing using Fourier-Mellin transform
Rizzi, A
Duina, D
Inelli, S
Cassinis, R
[J]. INTELLIGENT AUTONOMOUS SYSTEMS 6, 2000, : 455 - 462
[5] Automatic recognition of shoeprints using Fourier-Mellin transform
Gueham, M.
Bouridane, A.
Crookes, D.
Nibouche, O.
[J]. PROCEEDINGS OF THE 2008 NASA/ESA CONFERENCE ON ADAPTIVE HARDWARE AND SYSTEMS, 2008, : 487 - 491
[6] Research on Fourier-Mellin transform for image matching aided navigation system
Wu Hualing
Yan Li
[J]. SECOND INTERNATIONAL CONFERENCE ON SPACE INFORMATION TECHNOLOGY, PTS 1-3, 2007, 6795
[7] FOURIER-MELLIN TRANSFORM AND MAMMALIAN HEARING
ALTES, RA
[J]. JOURNAL OF THE ACOUSTICAL SOCIETY OF AMERICA, 1978, 63 (01): : 174 - 183
[8] Medical image registration using Fourier-Mellin transform
Pan, Meisen
Jiang, Jianjun
Zhang, Fen
Rong, Qiusheng
[J]. Journal of Computational Information Systems, 2015, 11 (03): : 1141 - 1148
[9] Motion Detection in the Presence of Egomotion Using the Fourier-Mellin Transform
Thoduka, Santosh
Hegger, Frederik
Kraetzschmar, Gerhard K.
Ploeger, Paul G.
[J]. ROBOCUP 2017: ROBOT WORLD CUP XXI, 2018, 11175 : 252 - 264
[10] Proposal of Amplitude only Logarithmic Radon Transform for Pattern Matching - Relation with Fourier-Mellin Transform
Hasegawa, Makoto
[J]. 2008 INTERNATIONAL SYMPOSIUM ON INTELLIGENT SIGNAL PROCESSING AND COMMUNICATIONS SYSTEMS (ISPACS 2008), 2008, : 242 - 245

← 1 2 3 4 5 →