2019/09/30 by Yasin Almalioglu, Mehmet Turan, Chris Xiaoxuan Lu +2 · 2 citations
Engineering · Computer Science · #eess.SP #cs.RO
paper · pdf · doi:10.1109/jsen.2020.3023243
Submitted to IEEE Sensors, 9pages
arxiv created 2020/03/06 · arxiv updated 2020/10/27
Robust indoor ego-motion estimation has attracted significant interest in the last decades due to the fast-growing demand for location-based services in indoor environments. Among various solutions, frequency-modulated continuous-wave (FMCW) radar sensors in millimeter-wave (MMWave) spectrum are gaining more prominence due to their intrinsic advantages such as penetration capability and high accuracy. Single-chip low-cost MMWave radar as an emerging technology provides an alternative and complementary solution for robust ego-motion estimation, making it feasible in resource-constrained platforms thanks to low-power consumption and easy system integration. In this paper, we introduce Milli-RIO, an MMWave radar-based solution making use of a single-chip low-cost radar and inertial measurement unit sensor to estimate six-degrees-of-freedom ego-motion of a moving radar. Detailed quantitative and qualitative evaluations prove that the proposed method achieves precisions on the order of few centimeters for indoor localization tasks.