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Radar-Inertial Motion Estimation
Ego-motion estimation using mmWave radar and IMU sensors
Keywords: State estimation, radar, imu, motion estimation
Thanks to the recent advances in mmWave radar technology (size, weight, resolution, cost, etc.) these sensors have lately attracted the attention of researchers to use them for state estimation. One of the most compelling reasons to use mmWave radars is that they are insusceptible to fog or dust and are thus able to outperform vision or lidar based methods in these conditions. The goal of this thesis is to get acquainted with a mmWave radar, understand how it is used in motion estimation and implement one solution. Of course, novel ideas are welcome and even encouraged to be investigated. The system shall be tested on real world data and its performance be evaluated.
(Note: See pdf for links/videos/references)
Thanks to the recent advances in mmWave radar technology (size, weight, resolution, cost, etc.) these sensors have lately attracted the attention of researchers to use them for state estimation. One of the most compelling reasons to use mmWave radars is that they are insusceptible to fog or dust and are thus able to outperform vision or lidar based methods in these conditions. The goal of this thesis is to get acquainted with a mmWave radar, understand how it is used in motion estimation and implement one solution. Of course, novel ideas are welcome and even encouraged to be investigated. The system shall be tested on real world data and its performance be evaluated. (Note: See pdf for links/videos/references)
- Literature review of related work and motion estimation
- Driver development
- Calibration Radar-IMU
- Implementation
- Possibly expand with novel ideas
- Testing and experiments in real world
- Detailed evaluation of results and performance
- Literature review of related work and motion estimation - Driver development - Calibration Radar-IMU - Implementation - Possibly expand with novel ideas - Testing and experiments in real world - Detailed evaluation of results and performance
- High motivation and interest in the topic
- Methodological and goal-oriented working behavior
- Experience in state estimation / control
- Experience programming in C++, knowledge of ROS is a plus
- High motivation and interest in the topic - Methodological and goal-oriented working behavior - Experience in state estimation / control - Experience programming in C++, knowledge of ROS is a plus
Please send a mail including CV/transcript/motivation to:
- Rik Bähnemann: brik@ethz.ch
- Tim Kazik: tkazik@ethz.ch
Please send a mail including CV/transcript/motivation to:
- Rik Bähnemann: brik@ethz.ch - Tim Kazik: tkazik@ethz.ch