EFEAR-4D: Ego-Velocity Filtering for Efficient and Accurate 4D Radar Odometry

Abstract

Odometry is a crucial component for successfully implementing autonomous navigation, relying on sensors such as cameras, LiDARs and IMUs. However, these sensors may encounter challenges in extreme weather conditions, such as snowfall and fog. The emergence of FMCW radar technology offers the potential for robust perception in adverse conditions. As the latest generation of FWCW radars, the 4D mmWave radar provides point cloud with range, azimuth, elevation, and Doppler velocity information, despite inherent sparsity and noises in the point cloud. EFEAR-4D exploits Doppler velocity information delicately for robust ego-velocity estimation, resulting in a highly accurate prior guess. EFEAR-4D maintains robustness against point-cloud sparsity and noises across diverse environments through dynamic object removal and effective region-wise feature extraction. Extensive experiments on two publicly available 4D radar datasets demonstrate state-of-the-art reliability and localization accuracy of EFEAR-4D under various conditions. Furthermore, we have collected a dataset following the same route but varying installation heights of the 4D radar, emphasizing the significant impact of radar height on point cloud quality, a crucial consideration for real-world deployments.