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FD-SLAM: Fast Dense Radar-Inertial SLAM with Frequency-Domain Loop Closure and Pose Graph Optimization
Nader J. Abu-Alrub, Nathir A. Rawashdeh
Radar SLAM is attractive for autonomous ground vehicles operating in visually degraded environments, however, scanning radars are noisy, have low scanning rates, and their measurem…
FD-RIO: Fast Dense Radar Inertial Odometry
Nader J. Abu-Alrub, Nathir A. Rawashdeh
Radar-based odometry is a popular solution for ego-motion estimation in conditions where other exteroceptive sensors may degrade, whether due to poor lighting or challenging weathe…
What Is Near?: Room Locality Learning for Enhanced Robot Vision-Language-Navigation in Indoor Living Environments
Muraleekrishna Gopinathan, Jumana Abu-Khalaf, David Suter +2
Humans use their knowledge of common house layouts obtained from previous experiences to predict nearby rooms while navigating in new environments. This greatly helps them navigate…
Radar Odometry for Autonomous Ground Vehicles: A Survey of Methods and Datasets
Nader J. Abu-Alrub, Nathir A. Rawashdeh
Radar odometry has been gaining attention in the last decade. It stands as one of the best solutions for robotic state estimation in unfavorable conditions; conditions where other…