{"id":355,"date":"2021-07-05T22:18:14","date_gmt":"2021-07-06T02:18:14","guid":{"rendered":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/?p=355"},"modified":"2021-07-27T15:59:54","modified_gmt":"2021-07-27T19:59:54","slug":"fusing-radar-and-inertial-sensors-for-long-corridor-indoor-navigation","status":"publish","type":"post","link":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/2021\/fusing-radar-and-inertial-sensors-for-long-corridor-indoor-navigation\/","title":{"rendered":"Fusing Radar and inertial sensors for long-corridor indoor navigation"},"content":{"rendered":"<p>Light Detection and Ranging (LiDAR) based Simultaneous Localization and Mapping (SLAM) systems are often used to map indoor areas and localize mobile systems. LiDAR scan matching performs poorly in environments without rich geometry, such as long hallways or large rooms. To address this limitation, a mm-wave fixed antenna array radar is used as a low-cost aid towards maintaining full pose information during these situations. Localization is performed using a scan matching algorithm that is developed through a correlative method.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Light Detection and Ranging (LiDAR) based Simultaneous Localization and Mapping (SLAM) systems are often used to map indoor areas and localize mobile systems. LiDAR scan matching performs poorly in environments without rich geometry, such as long hallways or large rooms. To address this limitation, a mm-wave fixed antenna array radar is used as a low-cost [&hellip;]<\/p>\n","protected":false},"author":12,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_relevanssi_hide_post":"","_relevanssi_hide_content":"","_relevanssi_pin_for_all":"","_relevanssi_pin_keywords":"","_relevanssi_unpin_keywords":"","_relevanssi_related_keywords":"","_relevanssi_related_include_ids":"","_relevanssi_related_exclude_ids":"","_relevanssi_related_no_append":"","_relevanssi_related_not_related":"","_relevanssi_related_posts":"","_relevanssi_noindex_reason":"","_mi_skip_tracking":false,"_exactmetrics_sitenote_active":false,"_exactmetrics_sitenote_note":"","_exactmetrics_sitenote_category":0,"footnotes":"","_links_to":"","_links_to_target":""},"categories":[24],"tags":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v21.2 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Fusing Radar and inertial sensors for long-corridor indoor navigation - Embedded and Multi-sensor Systems Lab (EMSLab)<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/2021\/fusing-radar-and-inertial-sensors-for-long-corridor-indoor-navigation\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Fusing Radar and inertial sensors for long-corridor indoor navigation - Embedded and Multi-sensor Systems Lab (EMSLab)\" \/>\n<meta property=\"og:description\" content=\"Light Detection and Ranging (LiDAR) based Simultaneous Localization and Mapping (SLAM) systems are often used to map indoor areas and localize mobile systems. LiDAR scan matching performs poorly in environments without rich geometry, such as long hallways or large rooms. To address this limitation, a mm-wave fixed antenna array radar is used as a low-cost [&hellip;]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/2021\/fusing-radar-and-inertial-sensors-for-long-corridor-indoor-navigation\/\" \/>\n<meta property=\"og:site_name\" content=\"Embedded and Multi-sensor Systems Lab (EMSLab)\" \/>\n<meta property=\"article:published_time\" content=\"2021-07-06T02:18:14+00:00\" \/>\n<meta property=\"article:modified_time\" content=\"2021-07-27T19:59:54+00:00\" \/>\n<meta name=\"author\" content=\"changqiu\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Written by\" \/>\n\t<meta name=\"twitter:data1\" content=\"changqiu\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/2021\/fusing-radar-and-inertial-sensors-for-long-corridor-indoor-navigation\/\",\"url\":\"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/2021\/fusing-radar-and-inertial-sensors-for-long-corridor-indoor-navigation\/\",\"name\":\"Fusing Radar and inertial sensors for long-corridor indoor navigation - Embedded and Multi-sensor Systems Lab (EMSLab)\",\"isPartOf\":{\"@id\":\"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/#website\"},\"datePublished\":\"2021-07-06T02:18:14+00:00\",\"dateModified\":\"2021-07-27T19:59:54+00:00\",\"author\":{\"@id\":\"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/#\/schema\/person\/ebc5f46cab0b5b353237723cab5111e4\"},\"breadcrumb\":{\"@id\":\"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/2021\/fusing-radar-and-inertial-sensors-for-long-corridor-indoor-navigation\/#breadcrumb\"},\"inLanguage\":\"en-US\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/2021\/fusing-radar-and-inertial-sensors-for-long-corridor-indoor-navigation\/\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/2021\/fusing-radar-and-inertial-sensors-for-long-corridor-indoor-navigation\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"Home\",\"item\":\"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"Fusing Radar and inertial sensors for long-corridor indoor navigation\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/#website\",\"url\":\"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/\",\"name\":\"Embedded and Multi-sensor Systems Lab (EMSLab)\",\"description\":\"Carleton University\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/?s={search_term_string}\"},\"query-input\":\"required name=search_term_string\"}],\"inLanguage\":\"en-US\"},{\"@type\":\"Person\",\"@id\":\"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/#\/schema\/person\/ebc5f46cab0b5b353237723cab5111e4\",\"name\":\"changqiu\",\"image\":{\"@type\":\"ImageObject\",\"inLanguage\":\"en-US\",\"@id\":\"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/#\/schema\/person\/image\/\",\"url\":\"https:\/\/secure.gravatar.com\/avatar\/9211d856b3181fb6ef752ba4579e3b71?s=96&d=mm&r=g\",\"contentUrl\":\"https:\/\/secure.gravatar.com\/avatar\/9211d856b3181fb6ef752ba4579e3b71?s=96&d=mm&r=g\",\"caption\":\"changqiu\"},\"url\":\"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/author\/changqiu\/\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"Fusing Radar and inertial sensors for long-corridor indoor navigation - Embedded and Multi-sensor Systems Lab (EMSLab)","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/2021\/fusing-radar-and-inertial-sensors-for-long-corridor-indoor-navigation\/","og_locale":"en_US","og_type":"article","og_title":"Fusing Radar and inertial sensors for long-corridor indoor navigation - Embedded and Multi-sensor Systems Lab (EMSLab)","og_description":"Light Detection and Ranging (LiDAR) based Simultaneous Localization and Mapping (SLAM) systems are often used to map indoor areas and localize mobile systems. LiDAR scan matching performs poorly in environments without rich geometry, such as long hallways or large rooms. To address this limitation, a mm-wave fixed antenna array radar is used as a low-cost [&hellip;]","og_url":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/2021\/fusing-radar-and-inertial-sensors-for-long-corridor-indoor-navigation\/","og_site_name":"Embedded and Multi-sensor Systems Lab (EMSLab)","article_published_time":"2021-07-06T02:18:14+00:00","article_modified_time":"2021-07-27T19:59:54+00:00","author":"changqiu","twitter_card":"summary_large_image","twitter_misc":{"Written by":"changqiu"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/2021\/fusing-radar-and-inertial-sensors-for-long-corridor-indoor-navigation\/","url":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/2021\/fusing-radar-and-inertial-sensors-for-long-corridor-indoor-navigation\/","name":"Fusing Radar and inertial sensors for long-corridor indoor navigation - Embedded and Multi-sensor Systems Lab (EMSLab)","isPartOf":{"@id":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/#website"},"datePublished":"2021-07-06T02:18:14+00:00","dateModified":"2021-07-27T19:59:54+00:00","author":{"@id":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/#\/schema\/person\/ebc5f46cab0b5b353237723cab5111e4"},"breadcrumb":{"@id":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/2021\/fusing-radar-and-inertial-sensors-for-long-corridor-indoor-navigation\/#breadcrumb"},"inLanguage":"en-US","potentialAction":[{"@type":"ReadAction","target":["https:\/\/carleton.ca\/embedded-and-multisensor-systems\/2021\/fusing-radar-and-inertial-sensors-for-long-corridor-indoor-navigation\/"]}]},{"@type":"BreadcrumbList","@id":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/2021\/fusing-radar-and-inertial-sensors-for-long-corridor-indoor-navigation\/#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"Home","item":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/"},{"@type":"ListItem","position":2,"name":"Fusing Radar and inertial sensors for long-corridor indoor navigation"}]},{"@type":"WebSite","@id":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/#website","url":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/","name":"Embedded and Multi-sensor Systems Lab (EMSLab)","description":"Carleton University","potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/?s={search_term_string}"},"query-input":"required name=search_term_string"}],"inLanguage":"en-US"},{"@type":"Person","@id":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/#\/schema\/person\/ebc5f46cab0b5b353237723cab5111e4","name":"changqiu","image":{"@type":"ImageObject","inLanguage":"en-US","@id":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/#\/schema\/person\/image\/","url":"https:\/\/secure.gravatar.com\/avatar\/9211d856b3181fb6ef752ba4579e3b71?s=96&d=mm&r=g","contentUrl":"https:\/\/secure.gravatar.com\/avatar\/9211d856b3181fb6ef752ba4579e3b71?s=96&d=mm&r=g","caption":"changqiu"},"url":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/author\/changqiu\/"}]}},"acf":{"Post Thumbnail Icon":"","Post Thumbnail":{"ID":444,"id":444,"title":"Screen Shot 2021-07-15 at 1.11.31 AM","filename":"Screen-Shot-2021-07-15-at-1.11.31-AM.png","filesize":225612,"url":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-content\/uploads\/Screen-Shot-2021-07-15-at-1.11.31-AM.png","link":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/cu-home\/homepage\/screen-shot-2021-07-15-at-1-11-31-am\/","alt":"","author":"12","description":"","caption":"","name":"screen-shot-2021-07-15-at-1-11-31-am","status":"inherit","uploaded_to":14,"date":"2021-07-15 05:11:48","modified":"2021-07-15 05:11:48","menu_order":0,"mime_type":"image\/png","type":"image","subtype":"png","icon":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp\/wp-includes\/images\/media\/default.png","width":518,"height":376,"sizes":{"thumbnail":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-content\/uploads\/Screen-Shot-2021-07-15-at-1.11.31-AM-160x116.png","thumbnail-width":160,"thumbnail-height":116,"medium":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-content\/uploads\/Screen-Shot-2021-07-15-at-1.11.31-AM-240x174.png","medium-width":240,"medium-height":174,"medium_large":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-content\/uploads\/Screen-Shot-2021-07-15-at-1.11.31-AM.png","medium_large-width":518,"medium_large-height":376,"large":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-content\/uploads\/Screen-Shot-2021-07-15-at-1.11.31-AM-400x290.png","large-width":400,"large-height":290,"gallery-thumb":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-content\/uploads\/Screen-Shot-2021-07-15-at-1.11.31-AM-300x230.png","gallery-thumb-width":300,"gallery-thumb-height":230,"1536x1536":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-content\/uploads\/Screen-Shot-2021-07-15-at-1.11.31-AM.png","1536x1536-width":518,"1536x1536-height":376,"2048x2048":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-content\/uploads\/Screen-Shot-2021-07-15-at-1.11.31-AM.png","2048x2048-width":518,"2048x2048-height":376,"banner":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-content\/uploads\/Screen-Shot-2021-07-15-at-1.11.31-AM.png","banner-width":518,"banner-height":376,"people":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-content\/uploads\/Screen-Shot-2021-07-15-at-1.11.31-AM-200x200.png","people-width":200,"people-height":200,"post-thumb":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-content\/uploads\/Screen-Shot-2021-07-15-at-1.11.31-AM-300x230.png","post-thumb-width":300,"post-thumb-height":230,"rotator-image":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-content\/uploads\/Screen-Shot-2021-07-15-at-1.11.31-AM.png","rotator-image-width":518,"rotator-image-height":376,"video-thumb":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-content\/uploads\/Screen-Shot-2021-07-15-at-1.11.31-AM-360x261.png","video-thumb-width":360,"video-thumb-height":261}}},"_links":{"self":[{"href":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-json\/wp\/v2\/posts\/355"}],"collection":[{"href":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-json\/wp\/v2\/users\/12"}],"replies":[{"embeddable":true,"href":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-json\/wp\/v2\/comments?post=355"}],"version-history":[{"count":3,"href":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-json\/wp\/v2\/posts\/355\/revisions"}],"predecessor-version":[{"id":515,"href":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-json\/wp\/v2\/posts\/355\/revisions\/515"}],"wp:attachment":[{"href":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-json\/wp\/v2\/media?parent=355"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-json\/wp\/v2\/categories?post=355"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/carleton.ca\/embedded-and-multisensor-systems\/wp-json\/wp\/v2\/tags?post=355"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}