Single-Frame Radar Odometry Incorporating Bearing Uncertainty

RADAR sensors come with the benefit that velocity information about moving objects in the environment is directly available from the sensor readings. Hence, RADAR sensors enable single-frame odometry, where the velocity information contained in a single RADAR scan is utilized to determine the sensor’s own velocity. Existing approaches for single-frame RADAR odometry rely on approximations which ignore the bearing uncertainty of a RADAR detection. For this reason, we propose a modification of the common measurement equation for RADAR odometry that incorporates the bearing uncertainties systematically. We investigate the benefits of this approach and how they can be utilized. An evaluation based on simulated and real data from a short-range RADAR is conducted.