'Institute of Electrical and Electronics Engineers (IEEE)'
Abstract
Robust indoor ego-motion estimation has attracted significant interest in the last decades due to the fastgrowing demand for location-based services in indoor environments. Among various solutions, frequency-modulatedcontinuo us-wave (FMCW) radar sensors in millimeter-wave (MMWave) spectrum are gaining more prominence due to their intrinsic advantages such as penetration capability and high accuracy. Single-chip low-cost MMWave radar as an emerging technology provides an alternative and complementary solution for robust ego-motion estimation, making it feasible in resource-constrained platforms thanks to low-power consumption and easy system integration. In this paper, we introduce Milli-RIO, an MMWave radar-based solution making use of a single-chip low-cost radar and inertial
measurement unit sensor to estimate six-degrees-of-freedom ego-motion of a moving radar. Detailed quantitative and
qualitative evaluations prove that the proposed method achieves precisions on the order of few centimeters for indoor
localization tasks
