Dynamic Ego-Velocity estimation Using Moving mmWave Radar: A Phase-Based Approach
<|reference_start|>Dynamic Ego-Velocity estimation Using Moving mmWave Radar: A Phase-Based Approach: 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.<|reference_end|>
@article{sen2024dynamic,
    title={Dynamic Ego-Velocity estimation Using Moving mmWave Radar: A Phase-Based
  Approach},
    author={Argha Sen, Soham Chakraborty, Soham Tripathy, Sandip Chakraborty},
    journal={arXiv preprint arXiv:2404.09691},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.09691},
    primaryClass={cs.RO}
}