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Infradar-Localization: Single-Chip Infrared- and radar-Based Monte Carlo Localization 19

Infradar-Localization: Single-Chip Infrared- and Radar-Based...

引用

19th IEEE International conference on Automation Science and Engineering, CASE 2023

作者： Wang, Dong Masannek, Marco May, Stefan Nüchter, Andreas Nuremberg Institute of Technology Georg Simon Ohm Faculty of Electrical Engineering Precision Engineering Information Technology Nuremberg90489 Germany Julius-Maximilians-University Würzburg Department of Informatics Xvii Robotics Würzburg97074 Germany

ISBN: (纸本)9798350320695

This paper proposes a novel approach for indoor robot localization that leverages a fusion of information from single-chip infrared (Time-of-Flight) and radar sensors. The aim of our research is the development of a cost-effective and lightweight system that can achieve high-precision robot localization. Unlike traditional localization methods based on LiDARs or cameras, our proposed system uses single-chip infrared and radar sensors to overcome the limitations of high cost and bulky hardware. Specifically, we employ a Doppler radar-based velocity motion model for the estimation of the robot's ego-motion, eliminating the need for additional sensors such as IMU or wheel encoders. Next, we describe a hybrid sensor model for single-chip infrared and radar sensors that provides robust and accurate environmental perception with dynamic outlier removal. Finally, we integrate these components into a Monte Carlo localization framework to generate accurate real-time estimation of the robot's position and orientation. This is the first time a single-chip infrared and radar fusion-based framework has been applied to robot localization, to the best of our knowledge. Through a comprehensive experimental evaluation, we demonstrate the system's high accuracy and efficiency, achieving an average localization error of 9 cm in diverse indoor environments. This remarkable performance, combined with the low-cost and lightweight nature of our proposed solution, positions it as a highly promising alternative for a wide range of applications, including robotics, smart homes, and autonomous vehicles. The significant advancements of this novel approach offer vast potential to revolutionize the field of localization, enabling more precise and cost-effective navigation systems. © 2023 IEEE.

关键词： Monte Carlo methods

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Infradar-Localization: Single-Chip Infrared- and radar-Based Monte Carlo Localization

Infradar-Localization: Single-Chip Infrared- and Radar-Based...

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IEEE International conference on Automation Science and Engineering (CASE)

作者： Dong Wang Marco Masannek Stefan May Andreas Nüchter Faculty of Electrical Engineering Precision Engineering Information Technology Nuremberg Institute of Technology Georg Simon Ohm Nuremberg Germany Department of Informatics XVII Robotics Julius-Maximilians-University Würzburg Würzburg Germany

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Fusion of Lidar and radar for detection of partially obscured objects 17

Fusion of Lidar and Radar for detection of partially obscure...

引用

conference on Unmanned Systems technology xvii

作者： Hollinger, Jim Kutscher, Brett Close, Ryan Land Sea Air Auton LLC Westminster MD USA US Army RDECOM CERDEC Night Vis & Elect Sensors D Ft Belvoir VA USA

ISBN: (纸本)9781628415841

The capability to detect partially obscured objects is of interest to many communities, including ground vehicle robotics. The ability to find partially obscured objects can aid in automated navigation and planning algorithms used by robots. Two sensors often used for this task are Lidar and radar. Lidar and radar systems provide complementary data about the environment. Both are active sensing modalities and provide direct range measurements. However, they operate in very different portions of the radio frequency spectrum. By exploiting properties associated with the different frequency spectra, the sensors are able to compensate for each other's shortcomings. This makes them excellent candidates for sensor processing and data fusion systems. The benefits associated with Lidar and radar sensor fusion for a ground vehicle application, using economical variants of these sensors, are presented. Special consideration is given to detecting objects partially obscured by light to medium vegetation.

关键词： sensor fusion Lidar radar Obstacle detection Hazard detection Concealed object Robotics

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A Mathematical Observation On Synthetic Aperture radar

A Mathematical Observation On Synthetic Aperture Radar

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conference on radar sensor technology xvii

作者： Cao, Yufeng Li, Shuxia Lopez, Juan Martinez, Alex Qiao, Zhijun Univ Texas Pan Amer Dept Math Edinburg TX 78539 USA

A general synthetic aperture radar (SAR) signal model is derived based on the Maxwells equation, and three numerical simulations are analyzed and discussed. With this signal model, compressive sensing is applied to ge... 详细信息

ISBN: (纸本)9780819495051

关键词： compressed sensing SAR Maxwell's equations

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Multitone Harmonic radar

Multitone Harmonic Radar

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conference on radar sensor technology xvii

作者： Mazzaro, Gregory J. Martone, Anthony F. US Army Res Lab Adelphi MD 20783 USA

ISBN: (纸本)9780819495051

Nonlinear radar exploits the electronic response from a target whose reflected frequencies are different from those transmitted. Reception of frequencies that are not part of the transmitted probe distinguishes the received signal from a linear return produced by clutter and indicates the presence of electronics. Presented in this paper is a type of nonlinear radar that transmits multiple frequencies and listens for a harmonic of these frequencies as well as other frequencies near that harmonic. A laboratory test-bed has been constructed to demonstrate the multitone radar concept. Measurements of nonlinear responses from RF devices probed by multiple tones are reported.

关键词： multitone harmonic radar detection discrimination radio frequency electronics nonlinear response

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GNSS-Based Passive radar Sensing Using Hybrid-Aperture System

GNSS-Based Passive Radar Sensing Using Hybrid-Aperture Syste...

引用

conference on radar sensor technology xvii

作者： Silver, Randy Zhang, Yan (Rockee) Suarez, Hernan Pan, Yu Huang, Yih-Ru Univ Oklahoma IART Norman OK 73072 USA

ISBN: (纸本)9780819495051

A hybrid-aperture radar system is being developed for passive, GNSS-based sensing and imaging missions. Different from previous work, the real aperture (RA) array has excellent cross-range resolution and electronic scanning capability, and synthetic aperture processing is applied for the dimension along the UAV/aircraft flight path. The hybrid aperture thus provides real-time, combined sensing capability and multiple functions. Multi-level signal synchronization and tracking is used to ensure the signal phase coherency and integrity. The advantages of covert radar sensing and reduced onboard computing complexity of this sensor are being demonstrated through experiments.

关键词： GNSS radar Software Defined Radio /radar (SDR)

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Scattering and Imaging of Nonlinearly Loaded Antenna Structures in Half-Space Environments

Scattering and Imaging of Nonlinearly Loaded Antenna Structu...

引用

conference on radar sensor technology xvii

作者： Liao, DaHan US Army Res Lab Adelphi MD USA

ISBN: (纸本)9780819495051

The electromagnetic scattering responses of nonlinearly loaded antenna structures excited by single-tone or multi-tone incident fields are considered in the frequency domain by employing a combination of the method-of-moments and a harmonic balance technique. Subsequently, standoff detection and localization of the scatterers in the presence of a half space is demonstrated with a subspace imaging procedure by exploiting the harmonic scattering responses.

关键词： Computational electromagnetics harmonic balance linear and nonlinear electromagnetic scattering method-of-moments multistatic radar imaging radiowave propagation remote sensing subspace-based imaging

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New Distributed radar technology Based on UAV or UGV Application

New Distributed Radar Technology Based on UAV or UGV Applica...

引用

conference on radar sensor technology xvii

作者： Molchanov, Pavlo A. Contarino, Vincent M. AMPAC Inc Lexington Pk MD 20653 USA

ISBN: (纸本)9780819495051

Regular micro and nano radars cannot provide reliable tracking of low altitude low profile aerial targets in urban and mountain areas because of reflection and re-reflections from buildings and terrain. They become visible and vulnerable to guided missiles if positioned on a tower or blimp. Doppler radar cannot distinguish moving cars and small low altitude aerial targets in an urban area. A new concept of pocket size distributed radar technology based on the application of UAV (Unmanned Air Vehicles), UGV (Unmanned Ground Vehicles) is proposed for tracking of low altitude low profile aerial targets at short and medium distances for protection of stadium, camp, military facility in urban or mountain areas.

关键词： Distributed radar technology directional antenna array low profile low altitude targets tracking UAV UGV urban mountain area

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Cognitive Processing for Nonlinear radar

Cognitive Processing for Nonlinear Radar

引用

conference on radar sensor technology xvii

作者： Martone, Anthony Ranney, Kenneth Hedden, Abigail Mazzaro, Gregory McNamara, David Army Res Lab Adelphi MD 20783 USA

ISBN: (纸本)9780819495051

An increasingly cluttered electromagnetic environment (EME) is a growing problem for radar systems. This problem is becoming critical as the available frequency spectrum shrinks due to growing wireless communication device usage and changing regulations. A possible solution to these problems is cognitive radar, where the cognitive radar learns from the environment and intelligently modifies the transmit waveform. In this paper, a cognitive nonlinear radar processing framework is introduced where the main components of this framework consist of spectrum sensing processing, target detection and classification, and decision making. The emphasis of this paper is to introduce a spectrum sensing processing technique that identifies a transmit-receive frequency pair for nonlinear radar. It will be shown that the proposed technique successfully identifies a transmit-receive frequency pair for nonlinear radar from data collected from the EME.

关键词： cognitive radar radar cognitive radio spectrum sensing nonlinear radar

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FPGA Implementation of a Software-Defined radar Processor

FPGA Implementation of a Software-Defined Radar Processor

引用

conference on radar sensor technology xvii

作者： Suarez, Hernan Zhang, Yan Rockee Univ Oklahoma Sch Elect & Comp Engn Adv Radar Res Ctr ARRC Intelligent Aerosp Radar Team IART Norman OK 73072 USA

ISBN: (纸本)9780819495051

A unified digital pulse compression processor is introduced as a radar-application-specific-processor (RASP) architecture for the next generation of adaptive radar. Based on traditional pulse compression matched filter and correlation receiver, the processor integrates specific designs to handle waveform diversities, which includes random noise waveforms, as well as digital transceiver self-reconfiguration for adaptive radars. Initial prototype of this processor is implemented with the latest Xilinx FPGA device and tested with an RF spaceborne radar transceiver testbed. Initial validation results show the effectiveness of real-time processing and engineering concepts.

关键词： waveform diversity random noise waveform software-defined radar signal processor FPGA

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