Subscribe to the gold package and get unlimited access to Shamra Academy
Register a new userMilli-RIO: Ego-Motion Estimation with Low-Cost Millimetre-Wave Radar
85
0
0.0
(
0
)
Ask ChatGPT about the research
No Arabic abstract
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.
rate research
Read More
This paper presents the design, implementation and evaluation of milliMap, a single-chip millimetre wave (mmWave) radar based indoor mapping system targetted towards low-visibility environments to assist in emergency response. A unique feature of milliMap is that it only leverages a low-cost, off-the-shelf mmWave radar, but can reconstruct a dense grid map with accuracy comparable to lidar, as well as providing semantic annotations of objects on the map. milliMap makes two key technical contributions. First, it autonomously overcomes the sparsity and multi-path noise of mmWave signals by combining cross-modal supervision from a co-located lidar during training and the strong geometric priors of indoor spaces. Second, it takes the spectral response of mmWave reflections as features to robustly identify different types of objects e.g. doors, walls etc. Extensive experiments in different indoor environments show that milliMap can achieve a map reconstruction error less than 0.2m and classify key semantics with an accuracy around 90%, whilst operating through dense smoke.
Most of the deep-learning based depth and ego-motion networks have been designed for visible cameras. However, visible cameras heavily rely on the presence of an external light source. Therefore, it is challenging to use them under low-light conditions such as night scenes, tunnels, and other harsh conditions. A thermal camera is one solution to compensate for this problem because it detects Long Wave Infrared Radiation(LWIR) regardless of any external light sources. However, despite this advantage, both depth and ego-motion estimation research for the thermal camera are not actively explored until so far. In this paper, we propose an unsupervised learning method for the all-day depth and ego-motion estimation. The proposed method exploits multi-spectral consistency loss to gives complementary supervision for the networks by reconstructing visible and thermal images with the depth and pose estimated from thermal images. The networks trained with the proposed method robustly estimate the depth and pose from monocular thermal video under low-light and even zero-light conditions. To the best of our knowledge, this is the first work to simultaneously estimate both depth and ego-motion from the monocular thermal video in an unsupervised manner.
Thales new generation digital multi-missions radars, fully-digital and software-defined, like the Sea Fire and Ground Fire radars, benefit from a considerable increase of accessible degrees of freedoms to optimally design their operational modes. To effectively leverage these design choices and turn them into operational capabilities, it is necessary to develop new engineering tools, using artificial intelligence. Innovative optimization algorithms in the discrete and continuous domains, coupled with a radar Digital Twins, allowed construction of a generic tool for search mode design (beam synthesis, waveform and volume grid) compliant with the available radar time budget. The high computation speeds of these algorithms suggest tool application in a Proactive Radar configuration, which would dynamically propose to the operator, operational modes better adapted to environment, threats and the equipment failure conditions.
A new unsupervised learning method of depth and ego-motion using multiple masks from monocular video is proposed in this paper. The depth estimation network and the ego-motion estimation network are trained according to the constraints of depth and ego-motion without truth values. The main contribution of our method is to carefully consider the occlusion of the pixels generated when the adjacent frames are projected to each other, and the blank problem generated in the projection target imaging plane. Two fine masks are designed to solve most of the image pixel mismatch caused by the movement of the camera. In addition, some relatively rare circumstances are considered, and repeated masking is proposed. To some extent, the method is to use a geometric relationship to filter the mismatched pixels for training, making unsupervised learning more efficient and accurate. The experiments on KITTI dataset show our method achieves good performance in terms of depth and ego-motion. The generalization capability of our method is demonstrated by training on the low-quality uncalibrated bike video dataset and evaluating on KITTI dataset, and the results are still good.
In this paper, we obtain and study typical beam entropy values for millimetre wave (mm-wave) channel models using the NYUSIM simulator for frequencies up to 100 GHz for fifth generation (5G) and beyond 5G cellular communication systems. The beam entropy is used to quantify sparse MIMO channel randomness in beamspace. Lower relative beam entropy channels are suitable for memory-assisted statistically-ranked (MarS) and hybrid radio frequency (RF) beam training algorithms. High beam entropies can potentially be advantageous for low overhead secured radio communications by generating cryptographic keys based on channel randomness in beamspace, especially for sparse multiple input multiple output (MIMO) channels. Urban micro (UMi), urban macro (UMa) and rural macro (RMa) cellular scenarios have been investigated in this work for 28, 60, 73 and 100 GHz.
Log in to be able to interact and post comments
comments
Fetching comments
Sign in to be able to follow your search criteria
