2024
Doppler-only Single-scan 3D Vehicle Odometry
Andres Galeote-Luque, Vladimír Kubelka, Martin Magnusson, Jose-Raul Ruiz-Sarmiento, Javier Gonzalez-Jimenez
ICRA 2024poster
We present a novel 3D odometry method that recovers the full motion of a vehicle only from a Doppler-capable range sensor. It leverages the radial velocities measured from the scene, estimating the sensor’s velocity from a single scan. The vehicle’s 3D motion, defined by its linear and angular veloc…