Radarize: Enhancing Radar SLAM with Generalizable Doppler-Based Odometry

arXiv:2311.11260v2 Announce Type: replace-cross
Abstract: Millimeter-wave (mmWave) radar is increasingly being considered as an alternative to optical sensors for robotic primitives like simultaneous localization and mapping (SLAM). While mmWave radar overcomes some limitations of optical sensors, such as occlusions, poor lighting conditions, and privacy concerns, it also faces unique challenges, such as missed obstacles due to specular reflections or fake objects due to multipath. To address these challenges, we propose Radarize, a self-contained SLAM pipeline that uses only a commodity …

abstract alternative arxiv challenges concerns cs.cv cs.ro eess.sp lighting limitations localization mapping optical privacy radar robotic sensors slam type unique while