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Landmark management for the application of Radar SLAM

Sample code for the conference paper "Landmark management for the application of Radar SLAM" (ArXiv:2209.07199)
Author: Shuai SUN, Chris GILLIAM, Beth JELFS
Email: shuai.sun@dlmu.edu.cn

The sample code provides an example of landmark (vehicle) management for radar SLAM.
Trajectory of the mobile platform is fixed, and a motion noise is added as pertubation

Radar models

There are 2 different radar models which can be set using the parameter sensor.model in the loadParameters script:

  1. Ideal this model directly generates landmark detections by drawing randomly from within the landmark region
    This is the model used in the paper
  2. PhasedArray this models a phased array with 4 arrays each covering 90 degrees
    Detections are obtained using a CFAR algorithm

Simulation parameters

To reproduce the results obtained in the paper, the ideal model should be used with the following parameters (Table I in the paper)

Symbol in Paper Name in Code Value
Rmax sensor.max_range 20
Rk sensor.R_radar [0.5^2 0; 0 (pi/180)^2]
Qk sensor.Q_process [1.5e-3, 0 0; 0 1.5e-3 0; 0 0 5e-5]
Uk sensor.U_odometer [0.022^2, 0; 0 (0.008 * pi/180)^2]
α thresholds.alpha 500
β thresholds.beta 20
γc thresholds.cluster_radius 2.5
γs thresholds.sifting_radius 3
γa thresholds.association_radius 3.5
γm thresholds.merge_radius 1.5
Nc1 thresholds.point_threshold 6
Nc2 thresholds.min_cluster_points 2
M (landmark initialization) MN_logic.M_association 5
N (landmark initialization) MN_logic.N_association 3
M (landmark removal) MN_logic.M_deleting 10
N (landmark removal) MN_logic.N_deleting 2

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