Simultaneous Localization and Mapping for Indoor Mobile Robots using Synthetic Aperture Radar Images
Abstract
Synthetic aperture radar (SAR) imaging provides a method for increasing the resolution of small and low-cost frequency-modulated continuous wave (FMCW) multiple-input multiple-output (MIMO) radar sensors. SAR images provide a dense representation of the environment which may be used for scan matching in a simultaneous localization and mapping (SLAM) system. This paper presents the details of an indoor SLAM system that utilizes SAR images for loop closure detection and scan matching. The obtained trajectory accuracy is compared against a laboratory reference system and SAR imaging results are presented.