Trajectory-oriented EKF-SLAM using the Fourier-Mellin transform applied to microwave radar images

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Volumn , Issue , 2009, Pages 4925-4930

  Gérossier, Franck ^a   Checchin, Paul ^a   Blanc, Christophe ^a   Chapuis, Roland ^a   Trassoudaine, Laurent ^a  

^a NONE

Author keywords

[No Author keywords available]

Indexed keywords

COMPARATIVE STUDIES; DATA ASSOCIATION PROBLEM; EGO-MOTION ESTIMATION; FIELD OF VIEWS; FOURIER; FREQUENCY-MODULATED CONTINUOUS WAVES; MELLIN TRANSFORM; MICROWAVE RADAR SENSORS; MICROWAVE RADARS; OUTPUT DATA; PERFORMANCE EVALUATION; RADAR IMAGE; RADAR SENSORS; REAL WORLD DATA; RIGID TRANSFORMATIONS; SIMULTANEOUS LOCALIZATION AND MAPPING;

CONTINUOUS WAVE RADAR; EXTENDED KALMAN FILTERS; IMAGE ANALYSIS; INTELLIGENT ROBOTS; MICROWAVE SENSORS; MICROWAVES; RADAR;

FOURIER TRANSFORMS;

EID: 76249111186     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2009.5354548     Document Type: Conference Paper

References (29)

1. P. Aschwanden and W. Guggenbuhl, "Experimental results from a comparative study on correlation-type registration algorithms". In W. Forstner and St. Ruwiedel, editors, Robust computer vision: quality of vision algorithms, pages 268-289. Wichmann, 1992.
2. T. Bailey and H.F. Durrant-Whyte, "Simultaneous Localization and Mapping (SLAM): Part II - State of the Art". Robotics and Automation Magazine, 10 p., 2006.
3. P. J. Besl and N. D. McKay, "A Method for Registration of 3-D Shapes". IEEE Trans. Pattern Anal. Mach. Intell., vol. 14, no. 2, pp. 239-256, 1992.
4. M. Bosse and R. Zlot, "Map Matching and Data Association for Large-Scale Two-dimensional Laser Scan-based SLAM". In Int. J. Robotics Research; 27(6):667-691, doi:10.1177/0278364908091366, 2008.
5. Q. Chen, M. Defrise and F. Deconinck, "Symmetric Phase-Only Matched Filtering of Fourier-Mellin Transforms for Image Registration and Recognition". In IEEE Trans. Pattern Anal. Mach. Intell., 16(12):1156-1168, 1994.
6. S. Clark and G. Dissanayake, "Simultaneous localization and map building using millimeter wave radar to extract natural features". In Int. Conf. on Robotics and Automation, ICRA, IEEE, pp. 1316-1321, Detroit, Michigan, May 1999.
7. D.M. Cole and P.M. Newman, "Using Laser Range Data for 3D SLAM in Outdoor Environments". In Proc. of Int. Conf. on Robotics and Automation, ICRA, IEEE, Florida, 2006.
8. F. Dellaert and M. Kaess, "Square Root SAM: Simultaneous Location and Mapping via Square Root Information Smoothing". International Journal of Robotics Research, 25(12), pp. 1181-1204, 2006.
9. G. Dissanayake, P. Newman, H.F. Durrant-Whyte, S. Clark, and M. Csobra, "A solution to the simultaneous localization and map building (SLAM) problem". IEEE Trans. Robotics and Automation, 17(3), pp. 229-241, 2001.
10. H.F. Durrant-Whyte and T. Bailey, "Simultaneous Localization and Mapping (SLAM): Part I - The Essential Algorithms". Robotics and Automation Magazine, 9 p., 2006.
11. R. Eustice, H. Singh, J. Leonard, M. Walter, and R. Ballard, "Visually Navigating the RMS Titanic with SLAM Information Filters", In Proc. of Robotics: Science and Systems, Cambridge, MA, USA, June 2005.
12. A. Foessel, J. Bares and W.R.L. Whittaker. "Three-dimensional map building with MMW RADAR". In Proc. of the 3rd Int. Conf. on Field and Service Robotics (FSR), Helsinki, Finland, June 2001.
13. U. Frese, "A discussion of simultaneous localization and mapping". Autonomous Robots, 20 (1), pp. 25-42, 2006.
14. A. Howard, D.F. Wolf and G.S. Sukhatme, "Towards 3D Mapping in Large Urban Environments". In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 419-424, 2004.
15. C.D. Kuglin and D.C. Hines, "The Phase Correlation Image Alignment Method". IEEE Conf. Cybernetics & Soc., pp. 163-165, Sept. 1975.
16. J. Leonard et al., "A Perception Driven Autonomous Urban Vehicle", In Journal of Field Robotics, Vol. 25, Issue 10, Special Issue on the 2007 DARPA Urban Challenge, Part III, pp. 727-774, Oct. 2008.
17. F. Lu and E. Milios, "Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans". Journal of Intelligent and Robotics Systems, vol. 18, pp. 249-275, 1997.
18. I. Mahon, S.B. Williams, O. Pizarro, and M. Johnson-Roberson, "Efficient View-Based SLAM Using Visual Loop Closures", In IEEE Trans. Robotics, vol. 24, no.5, pp. 1002-1014, Oct. 2008.
19. M.O. Monod, "Frequency modulated radar: a new sensor for natural environment and mobile robotics". Ph.D. Thesis, Paris VI University, France, 1995.
20. J. Mullane, E. Jose, M.D. Adams, and W.S. Wijesoma, "Including Probabilistic Target Detection Attributes Into Map Representations", International Journal of Robotics and Autonomous Systems, vol. 55, no. 1, pp. 72-85, 2007.
21. J. Nieto, T. Bailey, and E. Nebot, "Recursive Scan-Matching SLAM", Robotics & Automation Syst., doi:10.1016/j.robot.2006.06.008, 2006.
22. E. Olson, J. Leonard, and S. Teller, "Fast Iterative Alignment of Pose Graphs with Poor Initial Estimates". In Proc. of the IEEE Int. Conf. on Robotics and Automation, ICRA, IEEE, Florida, 2006.
23. P. Pfaff, R. Triebel, and C. Stachniss, P. Lamon, W. Burgard, and R. Siegwart. "Towards Mapping of Cities". Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), Rome, Italy, 2007.
24. B.S. Reddy and B.N. Chatterji, "An FFT-based Technique for Translation, Rotation, and Scale-Invariant Image Registration". IEEE Trans. Image Processing, vol. 3, no. 8, pp. 1266-1270, Aug. 1996.
25. D. Ribas, P. Ridao, J.D. Tardós, and J. Neira, "Underwater SLAM in a marina environment". In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), San Diego, USA, Oct. 2007.
26. R. Rouveure, P. Faure, P. Checchin, and M.O. Monod, "Mobile Robot Localization and Mapping in Extensive Outdoor Environment based on Radar Sensor - First Results". In Proc. of PSIP 2007, Mulhouse, France, Feb. 2007.
27. M.I. Skolnik, "Introduction to radar systems". In: Electrical Engineering Series. Ed. McGraw-Hill International Editions, 1980.
28. H. Stone, M. Orchard, E.-C. Chang, and S. Martucci, "A Fast Direct Fourier-Based Algorithm for Subpixel Registration of Images". In IEEE Trans. Geoscience and Remote Sensing, vol. 39, no. 10, pp. 2235-2243, Oct. 2001.
29. Wang, C.-C., "Simultaneous Localization, Mapping and Moving Object Tracking". Doctoral dissertation, tech. report CMU-RI-TR-04-23, Robotics Institute, Carnegie Mellon University, 2004.