Short-range radar perception in outdoor environments

Authors:
Giulio Reina;James Underwood;Graham Brooker
Affiliations:
Department of Engineering for Innovation, University of Salento, Lecce, Italy;Australian Centre for Field Robotics, University of Sydney, Sydney, Australia;Australian Centre for Field Robotics, University of Sydney, Sydney, Australia
Venue:
TAROS'11 Proceedings of the 12th Annual conference on Towards autonomous robotic systems
Year:
2011

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Abstract

For mobile robots operating in outdoor environments, perception is a critical task. Construction, mining, agriculture, and planetary exploration are common examples where the presence of dust, smoke, and rain, and the change in lighting conditions can dramatically degrade conventional vision and laser sensing. Nonetheless, environment perception can still succeed under compromised visibility through the use of a millimeter-wave radar. This paper presents a novel method for scene segmentation using a short-range radar mounted on a ground vehicle. Issues relevant to radar perception in an outdoor environment are described along with field experiments and a quantitative comparison to laser data. The ability to classify the scene and significant improvement in range accuracy are demonstrated showing the utility of millimeterwave radar as a robotic sensor for persistent and accurate perception in natural scenarios.