This repo is an implementation for our ICRA2022 paper DC-Loc: Accurate Automotive Radar Based Metric Localization with Explicit Doppler Compensation
@article{gao2021accurate,
title={Accurate Automotive Radar Based Metric Localization with Explicit Doppler Compensation},
author={Gao, Pengen and Zhang, Shengkai and Wang, Wei and Lu, Chris Xiaoxuan},
booktitle={2022 IEEE International Conference on Robotics and Automation (ICRA)},
year={2022},
organization={IEEE}
}
Metric localization performance
Dependencies:
Eigen 3.3
OpenCV 3.4
Ceres 1.14
Sophus 1.0
Note: this code has been build and tested on Ubuntu 18.04, but it should compile for newer versions of Ubuntu.
You may need to download nuScenes dataset (radar) from nutonomy/nuscenes-devkit.
- preprocess Nuscenes dataset to get loop closure cases and compensate for doppler effect in each radar submap.
cd ./preprocess
python search_for_loopclosure.py -n PATH_TO_NUSCENES
python list_seq.py- metric localization process
cd ~/DCRML
mkdir build
cd ./build
cmake ../DCRML
make
./DCRML
React
Typescript
Django
Laravel
Facebook
Microsoft
Google
Alibaba
D3
Tencent