{"id":"https://openalex.org/W4404627598","doi":"https://doi.org/10.1109/lra.2024.3505821","title":"Are Doppler Velocity Measurements Useful for Spinning Radar Odometry?","display_name":"Are Doppler Velocity Measurements Useful for Spinning Radar Odometry?","publication_year":2024,"publication_date":"2024-11-22","ids":{"openalex":"https://openalex.org/W4404627598","doi":"https://doi.org/10.1109/lra.2024.3505821"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3505821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3505821","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067895181","display_name":"Daniil Lisus","orcid":"https://orcid.org/0000-0003-0520-4603"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Daniil Lisus","raw_affiliation_strings":["University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, ON, Canada","University of Toronto Institute for Aerospace Studies, (UTIAS), Dufferin St, Ontario, Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, (UTIAS), Dufferin St, Ontario, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030796058","display_name":"Keenan Burnett","orcid":"https://orcid.org/0000-0001-7496-1144"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Keenan Burnett","raw_affiliation_strings":["University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, ON, Canada","University of Toronto Institute for Aerospace Studies, (UTIAS), Dufferin St, Ontario, Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, (UTIAS), Dufferin St, Ontario, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027301346","display_name":"David J. Yoon","orcid":"https://orcid.org/0000-0002-4838-7422"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"David J. Yoon","raw_affiliation_strings":["University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, ON, Canada","University of Toronto Institute for Aerospace Studies, (UTIAS), Dufferin St, Ontario, Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, (UTIAS), Dufferin St, Ontario, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076310214","display_name":"Richard Poulton","orcid":null},"institutions":[{"id":"https://openalex.org/I4210089697","display_name":"Navtech Radar (United Kingdom)","ror":"https://ror.org/008ggzb67","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210089697"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Richard Poulton","raw_affiliation_strings":["Navtech Radar, Wantage, U.K","Navtech Radar, Home Farm, School Rd, Ardington, Wantage, Oxfordshire, U.K"],"affiliations":[{"raw_affiliation_string":"Navtech Radar, Wantage, U.K","institution_ids":["https://openalex.org/I4210089697"]},{"raw_affiliation_string":"Navtech Radar, Home Farm, School Rd, Ardington, Wantage, Oxfordshire, U.K","institution_ids":["https://openalex.org/I4210089697"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090680466","display_name":"John F. Marshall","orcid":"https://orcid.org/0000-0002-8344-2589"},"institutions":[{"id":"https://openalex.org/I4210089697","display_name":"Navtech Radar (United Kingdom)","ror":"https://ror.org/008ggzb67","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210089697"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"John Marshall","raw_affiliation_strings":["Navtech Radar, Wantage, U.K","Navtech Radar, Home Farm, School Rd, Ardington, Wantage, Oxfordshire, U.K"],"affiliations":[{"raw_affiliation_string":"Navtech Radar, Wantage, U.K","institution_ids":["https://openalex.org/I4210089697"]},{"raw_affiliation_string":"Navtech Radar, Home Farm, School Rd, Ardington, Wantage, Oxfordshire, U.K","institution_ids":["https://openalex.org/I4210089697"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004788089","display_name":"Timothy D. Barfoot","orcid":"https://orcid.org/0000-0003-3899-631X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Timothy D. Barfoot","raw_affiliation_strings":["University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, ON, Canada","University of Toronto Institute for Aerospace Studies, (UTIAS), Dufferin St, Ontario, Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, (UTIAS), Dufferin St, Ontario, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5067895181"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":7.7975,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.96773651,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"10","issue":"1","first_page":"224","last_page":"231"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10655","display_name":"GNSS positioning and interference","score":0.9053000211715698,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10655","display_name":"GNSS positioning and interference","score":0.9053000211715698,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/doppler-effect","display_name":"Doppler effect","score":0.5679817795753479},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.5638601779937744},{"id":"https://openalex.org/keywords/spinning","display_name":"Spinning","score":0.5525729656219482},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5296884179115295},{"id":"https://openalex.org/keywords/doppler-radar","display_name":"Doppler radar","score":0.4895930886268616},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.4717605710029602},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.42195606231689453},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.35803890228271484},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.275137722492218},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.26474249362945557},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21106231212615967},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.15084078907966614},{"id":"https://openalex.org/keywords/astronomy","display_name":"Astronomy","score":0.10174638032913208},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.05678236484527588}],"concepts":[{"id":"https://openalex.org/C142757262","wikidata":"https://www.wikidata.org/wiki/Q76436","display_name":"Doppler effect","level":2,"score":0.5679817795753479},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.5638601779937744},{"id":"https://openalex.org/C154815118","wikidata":"https://www.wikidata.org/wiki/Q453762","display_name":"Spinning","level":2,"score":0.5525729656219482},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5296884179115295},{"id":"https://openalex.org/C2778559676","wikidata":"https://www.wikidata.org/wiki/Q1334213","display_name":"Doppler radar","level":3,"score":0.4895930886268616},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.4717605710029602},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.42195606231689453},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.35803890228271484},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.275137722492218},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.26474249362945557},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21106231212615967},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.15084078907966614},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.10174638032913208},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.05678236484527588},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3505821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3505821","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W78175635","https://openalex.org/W1988918158","https://openalex.org/W2015442982","https://openalex.org/W2085261163","https://openalex.org/W2115579991","https://openalex.org/W2146628504","https://openalex.org/W2158662637","https://openalex.org/W2163796592","https://openalex.org/W2890714858","https://openalex.org/W2969150231","https://openalex.org/W3089835902","https://openalex.org/W3128472000","https://openalex.org/W3174203047","https://openalex.org/W4225363100","https://openalex.org/W4225716276","https://openalex.org/W4226416745","https://openalex.org/W4230475428","https://openalex.org/W4286543002","https://openalex.org/W4312985079","https://openalex.org/W4313051640","https://openalex.org/W4327692895","https://openalex.org/W4383109093","https://openalex.org/W4389459239","https://openalex.org/W4389666170","https://openalex.org/W4390044810","https://openalex.org/W4391793334","https://openalex.org/W4392515775","https://openalex.org/W4401415187","https://openalex.org/W4401416188","https://openalex.org/W4401416708","https://openalex.org/W4402592730","https://openalex.org/W4404510718","https://openalex.org/W6767711165","https://openalex.org/W6861736820","https://openalex.org/W6862152105"],"related_works":["https://openalex.org/W1978025251","https://openalex.org/W2361241744","https://openalex.org/W2086314607","https://openalex.org/W2235285389","https://openalex.org/W4252012301","https://openalex.org/W2581209175","https://openalex.org/W2532305960","https://openalex.org/W2900664875","https://openalex.org/W2022955050","https://openalex.org/W2944876982"],"abstract_inverted_index":{"Spinning,":[0],"frequency-modulated":[1],"continuous-wave":[2],"(FMCW)":[3],"radars":[4],"with":[5],"<inline-formula":[6,133],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[7,134],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[8,135],"notation=\"LaTeX\">$360":[9],"^{\\circ":[10],"}$</tex-math></inline-formula>":[11],"coverage":[12],"have":[13],"been":[14],"gaining":[15],"popularity":[16],"for":[17],"autonomous-vehicle":[18],"navigation.":[19],"However,":[20],"unlike":[21],"\u2018fixed\u2019":[22],"automotive":[23],"radar,":[24],"commercially":[25],"available":[26],"spinning":[27,65],"radar":[28,66,95],"systems":[29],"typically":[30],"do":[31],"not":[32],"produce":[33],"radial":[34,55,86],"velocities":[35,56],"due":[36],"to":[37,67,80,84,112,163],"the":[38,44,48,60,129],"lack":[39],"of":[40,62,93,138],"repeated":[41],"measurements":[42,89,108,153],"in":[43,141,156,167],"same":[45],"direction":[46],"and":[47,117,160],"fundamental":[49],"hardware":[50],"setup.":[51],"To":[52],"make":[53],"these":[54,105,119],"observable,":[57],"we":[58,75],"modified":[59],"firmware":[61],"a":[63,77,94],"commercial":[64],"use":[68,81],"triangular":[69],"frequency":[70],"modulation.":[71],"In":[72],"this":[73,82],"letter,":[74],"develop":[76],"novel":[78],"way":[79],"modulation":[83],"extract":[85],"Doppler":[87,151],"velocity":[88,152],"from":[90],"consecutive":[91],"azimuths":[92],"intensity":[96],"scan,":[97],"without":[98],"any":[99],"data":[100,140],"association.":[101],"We":[102,126,148],"show":[103,149],"that":[104,150],"noisy,":[106],"error-prone":[107],"contain":[109],"enough":[110],"information":[111],"provide":[113],"good":[114],"ego-velocity":[115],"estimates,":[116],"incorporate":[118],"estimates":[120],"into":[121],"different":[122],"modern":[123],"odometry":[124,155],"pipelines.":[125],"extensively":[127],"evaluate":[128],"pipelines":[130],"on":[131],"over":[132],"notation=\"LaTeX\">$\\text{110":[136],"km}$</tex-math></inline-formula>":[137],"driving":[139],"progressively":[142],"more":[143],"geometrically":[144,169],"challenging":[145],"autonomous-driving":[146],"environments.":[147],"improve":[154],"well-defined":[157],"geometric":[158],"conditions":[159],"enable":[161],"it":[162],"continue":[164],"functioning":[165],"even":[166],"severely":[168],"degenerate":[170],"environments,":[171],"such":[172],"as":[173],"long":[174],"tunnels.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
