Radar imager for perception and mapping in outdoor environment

Perception remains a challenge in outdoor environments. Overcoming the limitations of vision-based sensors, microwave radar presents considerable potential. Such a sensor so-called K2Pi has been designed for environment mapping. In order to build radar maps, an algorithm named R-SLAM has been developed. The global radar map is constructed through a data merging process, using map matching of successive radar images sequences. An occupancy grid approach is used to describe the environment. First results obtained in urban and natural environments are presented, which show the ability of the micro-wave radar to deal with extended environments.