4 papers
AevaScenes: An FMCW LiDAR Dataset and Benchmark for Long-Range Perception
Gautham Narayan Narasimhan, Heethesh Vhavle, Kumar Bhargav Viswanatha +2
FMCW LiDAR measures per-point radial Doppler velocity alongside range, providing a motion cue unavailable in conventional time-of-flight sensors. Exploiting this signal at long ran…
Need for Speed: Fast Correspondence-Free Lidar-Inertial Odometry Using Doppler Velocity
David J. Yoon, Keenan Burnett, Johann Laconte +5
In this paper, we present a fast, lightweight odometry method that uses the Doppler velocity measurements from a Frequency-Modulated Continuous-Wave (FMCW) lidar without data assoc…
Picking Up Speed: Continuous-Time Lidar-Only Odometry using Doppler Velocity Measurements
Yuchen Wu, David J. Yoon, Keenan Burnett +4
Frequency-Modulated Continuous-Wave (FMCW) lidar is a recently emerging technology that additionally enables per-return instantaneous relative radial velocity measurements via the…
DICP: Doppler Iterative Closest Point Algorithm
Bruno Hexsel, Heethesh Vhavle, Yi Chen
In this paper, we present a novel algorithm for point cloud registration for range sensors capable of measuring per-return instantaneous radial velocity: Doppler ICP. Existing vari…