Observability analysis and optimal sensor placement in stereo radar odometry
Andreu Corominas Murtra, Joan Vallvé, Joan Solà, Ismael Flores, Juan Andrade-Cetto
Abstract
Localization is the key perceptual process closing the loop of autonomous navigation, allowing self-driving vehicles to operate in a deliberate way. To ensure robust localization, autonomous vehicles have to implement redundant estimation processes, ideally independent in terms of the underlying physics behind sensing principles. This paper presents a stereo radar odometry system, which can be used as such a redundant system, complementary to other odometry estimation processes, providing robustness for long-term operability. The presented work is novel with respect to previously published methods in that it contains: (i) a detailed formulation of the Doppler error and its associated uncertainty; (ii) an observability analysis that gives the minimal conditions to infer a 2D twist from radar readings; and (iii) a numerical analysis for optimal vehicle sensor placement. Experimental results are also detailed that validate the theoretical insights.
BibTeX
@inproceedings{icra2016_observabilityana,
title = {Observability analysis and optimal sensor placement in stereo radar odometry},
author = {Andreu Corominas Murtra and Joan Vallvé and Joan Solà and Ismael Flores and Juan Andrade-Cetto},
booktitle = {ICRA 2016},
year = {2016}
}