DeRO
DeRO: Dead Reckoning Based on Radar Odometry With Accelerometers Aided for Robot Localization
This is a ROS 2 package for DeRO, written in C++. DeRO utilizes 4D point cloud measurements from a millimeter-wave Frequency-Modulated Continuous Wave (FMCW) radar and IMU measurements to estimate the robot’s poses. Specifically, Doppler velocity and gyroscope measurements are used to calculate odometry, while the radar’s range and accelerometer measurements are utilized to update the estimation using a Stochastic Cloning Extended Kalman Filter (SCEKF).
