Feature Extraction from Grid Maps using Millimeter Wave Radar Based on Motion Platform

In this paper, a simultaneous Localization and Mapping (SLAM) algorithm based on particle filter is implemented to construct occupancy grid maps. A feature-extraction architecture consisting of two stages, i.e. map integration and high-level feature extraction, is proposed for the application in radar gird map matching for loop-closing purposes. Different feature extraction algorithms based are applied in the architecture on maps constructed using measurement data with different degrees of sparsity. The results are compared and discussed

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