Radar-Inertial Localization for Unmanned Ground Vehicles in GNSS-Denied Off-Road Environments

Petar Mitrev and Mohamed Atia

Peer Reviewed

Abstract:	Radar is a growing candidate for localization in GNSS-denied scenarios that are challenging or restrictive to LiDAR. However, applications are still largely limited to indoor or urban environments. To bridge this gap, we look at the performance of radar-inertial-odometry in distinctly offroad environments that include a dense forest and underground mine. We develop a localization pipeline which uses an adaptive EKF for unstructured forested regions, and fuses both EKF estimates and point-to-plane radar ICP measurements via factor graph for structured underground environments. We observed high quality localization results using radar in these environments as well as improvements in accuracy when using our pipeline compared to current methods, particularly in the forested region where our AEKF was seen to be highly suitable for such terrains.
Published in:	Proceedings of the 37th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2024) September 16 - 20, 2024 Hilton Baltimore Inner Harbor Baltimore, Maryland
Pages:	1469 - 1483
Cite this article:	Mitrev, Petar, Atia, Mohamed, "Radar-Inertial Localization for Unmanned Ground Vehicles in GNSS-Denied Off-Road Environments," Proceedings of the 37th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2024), Baltimore, Maryland, September 2024, pp. 1469-1483. https://doi.org/10.33012/2024.19697
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