UAV-Borne 2-D and 3-D Radar-Based Grid Mapping

Simultaneous Localization and Mapping (SLAM) for Synthetic Aperture Radar (SAR) Processing in the Field of Autonomous Driving

“…• modeling of free-space • calculating target probability • updating probabilistic map These steps are described below with reference to [33]- [35]. The goal in this case is to determine the occupancy probability p (m i |Ξ 1:t f , χ 1:t f ) of cell m i at time t f based on all measurements Ξ 1:t f and all pose information χ 1:t f up to the current time t f .…”

Radar-Based Mapping of the Environment: Occupancy Grid-Map Versus SAR

“…OGMs are generally target list-based mapping algorithms [8]. A distinction is usually made between amplitude and occupancy grid maps, whereby the probabilistic OGM has clear robustness advantages [5]. For the generation of OGMs, the target lists are generated based on the range-Doppler information, calculated by applying a 2D-FFT on the ADC samples [9].…”

“…using a constant false alarm rate (CFAR), subsequent peak detection, and angle of arrival (AoA) estimation. Based on these target lists, a target model as well as a sensor model is generated for each frame and each sensor [5], which can ultimately be used to generate an OGM and to update it frame by frame with [10] p…”

“…The best known approach for mapping the environment with help of radar data are grid maps (GM), which can be classified into target list-based occupancy grid maps (OGM) and raw data-based synthetic aperture radar (SAR) maps. Different algorithms in order to generate radarbased grid maps have been presented in [4], [5], [6].…”

Laser ranging method based on dual-threshold echo pulse prediction and correction

“…Lidar, as a key component of autonomous navigation technology, is extremely important [1][2][3]. In recent years, with the rapid development of artificial intelligence and 5 G technology, intelligence and network continue to enter our daily life.…”