/FMCW_Radar_slam

Primary LanguagePython

Let's try some side projects, and to see whether we can figure it out.

Notice

This repo was originally created for some extracurricular activities, but I recently found more and more people are getting interested in this project. Therefore, after negotiating with the company, I here open source a very small portion of the data (several frames maybe). The data can be found at Google Drive. The data should be organized in the following way.

RAD_numpy: Range-Azimuth-Doppler Data
radar_RAD_mask: Detection masks for the RAD Data

For details of how to use the data, see illustration.md

Current state

It basically works, but sometimes it throws some rotation or translation errors. A screenshot is shown as below,

Image

TODO

    1. Find a way to optimize the R | t matrices.
    1. Find a better way for matching points filtering.
    1. Consider multiple frames instead of only 2 frames each time (Key Frame?).