{"title":"基于合成孔径雷达图像的室内移动机器人同步定位与制图","authors":"Yuma Elia Ritterbusch;Johannes Fink;Christian Waldschmidt","doi":"10.1109/JISPIN.2024.3524487","DOIUrl":null,"url":null,"abstract":"Synthetic aperture radar (SAR) imaging provides a method for increasing the resolution of small and low-cost frequency-modulated continuous-wave multiple-input multiple-output radar sensors. SAR images provide a dense representation of the environment, which may be used for scan matching in a simultaneous localization and mapping (SLAM) system. This article presents the details of an indoor SLAM system that utilizes SAR images for loop closure detection and scan matching. The obtained trajectory accuracy is compared against a laboratory reference system, and SAR imaging results are presented.","PeriodicalId":100621,"journal":{"name":"IEEE Journal of Indoor and Seamless Positioning and Navigation","volume":"3 ","pages":"1-12"},"PeriodicalIF":0.0000,"publicationDate":"2024-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10818650","citationCount":"0","resultStr":"{\"title\":\"Simultaneous Localization and Mapping for Indoor Mobile Robots Using Synthetic Aperture Radar Images\",\"authors\":\"Yuma Elia Ritterbusch;Johannes Fink;Christian Waldschmidt\",\"doi\":\"10.1109/JISPIN.2024.3524487\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Synthetic aperture radar (SAR) imaging provides a method for increasing the resolution of small and low-cost frequency-modulated continuous-wave multiple-input multiple-output radar sensors. SAR images provide a dense representation of the environment, which may be used for scan matching in a simultaneous localization and mapping (SLAM) system. This article presents the details of an indoor SLAM system that utilizes SAR images for loop closure detection and scan matching. The obtained trajectory accuracy is compared against a laboratory reference system, and SAR imaging results are presented.\",\"PeriodicalId\":100621,\"journal\":{\"name\":\"IEEE Journal of Indoor and Seamless Positioning and Navigation\",\"volume\":\"3 \",\"pages\":\"1-12\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2024-12-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10818650\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Journal of Indoor and Seamless Positioning and Navigation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10818650/\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Journal of Indoor and Seamless Positioning and Navigation","FirstCategoryId":"1085","ListUrlMain":"https://ieeexplore.ieee.org/document/10818650/","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Simultaneous Localization and Mapping for Indoor Mobile Robots Using Synthetic Aperture Radar Images
Synthetic aperture radar (SAR) imaging provides a method for increasing the resolution of small and low-cost frequency-modulated continuous-wave multiple-input multiple-output radar sensors. SAR images provide a dense representation of the environment, which may be used for scan matching in a simultaneous localization and mapping (SLAM) system. This article presents the details of an indoor SLAM system that utilizes SAR images for loop closure detection and scan matching. The obtained trajectory accuracy is compared against a laboratory reference system, and SAR imaging results are presented.
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