4 accepted papers
3D FMCW lidars return relative velocity measurements via the Doppler effect, which provides a new form of information for motion estimation. In our prior work, we proposed an odometry method that avoids the conventional ICP-based approach and uses the Doppler velocity measurements in a correspondenc
In this paper, we present a fast, lightweight odometry method that uses the Doppler velocity measurements from a Frequency-Modulated Continuous-Wave (FMCW) lidar without data association. FMCW lidar is a recently emerging technology that enables per-return relative radial velocity measurements via t…
Frequency-Modulated Continuous-Wave (FMCW) lidar is a recently emerging technology that additionally enables per-return instantaneous relative radial velocity measurements via the Doppler effect. In this letter, we present the first continuous-time lidar-only odometry algorithm using these Doppler v
In this paper, we present a novel algorithm for point cloud registration for range sensors capable of measuring per-return instantaneous radial velocity: Doppler ICP. Existing variants of ICP that solely rely on geometry or other features generally fail to estimate the motion of the sensor correctly…