Simultaneous Localization&Grid Mapping Using mmWave Radar Sensor

作     者：Guilherme Antonio PAVELSKI 

作者单位：上海交通大学 

学位级别：硕士

导师姓名：Dongying LI

授予年度：2020年

学科分类：080904[工学-电磁场与微波技术] 0810[工学-信息与通信工程] 0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 081105[工学-导航、制导与控制] 081001[工学-通信与信息系统] 081002[工学-信号与信息处理] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 

主      题：mm-Wave Radar Radar-SLAM algorithm radar grid-mapping 

摘      要：This master s thesis presents an overview of how a millimeter-wave radar can be applied for the purpose of simultaneous localization and mapping(SLAM).The main objective is to investigate the main steps necessary to perform a complete *** work discusses two of the main grid mapping approaches,with fixed and adaptive grid sizes;besides this,the localization step is also discussed,based on the target feature extraction algorithm and the use of Particle Filter for target pose *** results using radar and a visual localization approach for indoor mapping are shown,as well as a simulation for the particle filter localization *** whole loop for SLAM using only the mm-wave radar as the sensor has not been developed,however,this work could contribute to a better understanding of the ideas related to the topic.