Print Email Facebook Twitter DeepEgo Title DeepEgo: Deep Instantaneous Ego-Motion Estimation Using Automotive Radar Author Zhu, S. (TU Delft Microwave Sensing, Signals & Systems) Yarovoy, Alexander (TU Delft Microwave Sensing, Signals & Systems) Fioranelli, F. (TU Delft Microwave Sensing, Signals & Systems) Date 2023 Abstract The problem of instantaneous ego-motion estimation with mm-wave automotive radar is studied. DeepEgo, a deep learning-based method, is proposed for achieving robust and accurate ego-motion estimation. A hybrid approach that uses neural networks to extract complex features from input point clouds and applies weighted least squares (WLS) for motion estimation is utilized in DeepEgo. Additionally, a novel loss function, Doppler loss, is proposed to locate “inlier points” originating from detected stationary objects without human annotation. Finally, a challenging real-world automotive radar dataset is selected for extensive performance evaluation. Compared to other methods selected from the literature, significant improvements in estimation accuracy, long-term stability, and runtime performance of DeepEgo in comparison to other methods are demonstrated. Subject Ego-motion estimationradar odometryautomotive radarradar point clouddeep learning To reference this document use: http://resolver.tudelft.nl/uuid:dab68e95-0add-4f69-85ef-847e4e74522c DOI https://doi.org/10.1109/TRS.2023.3288241 Embargo date 2023-12-21 ISSN 2832-7357 Source IEEE Transactions on Radar Systems, 1, 166-180 Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2023 S. Zhu, Alexander Yarovoy, F. Fioranelli Files PDF DeepEgo_Deep_Instantaneou ... _Radar.pdf 13.71 MB Close viewer /islandora/object/uuid:dab68e95-0add-4f69-85ef-847e4e74522c/datastream/OBJ/view