2024/04/15 by Argha Sen, Sen, Argha, Soham Chakraborty +5 · 1 citation
Engineering · Physics and Astronomy · Computer Science · #Indoor and Outdoor Localization Technologies #Advanced Optical Sensing Technologies #Target Tracking and Data Fusion in Sensor Networks
paper · pdf · doi:10.48550/arxiv.2404.09691
Precise ego-motion measurement is crucial for various applications, including robotics, augmented reality, and autonomous navigation. In this poster, we propose mmPhase, an odometry framework based on single-chip millimetre-wave (mmWave) radar for robust ego-motion estimation in mobile platforms without requiring additional modalities like the visual, wheel, or inertial odometry. mmPhase leverages a phase-based velocity estimation approach to overcome the limitations of conventional doppler resolution. For real-world evaluations of mmPhase we have developed an ego-vehicle prototype. Compared to the state-of-the-art baselines, mmPhase shows superior performance in ego-velocity estimation.