Precise ego-motion measurement is crucial for various applications, including robotics, augmented reality, and autonomous navigation. In this poster, we propose mmPhase, an odometry framework based on single-chip millimetre-wave (mmWave) radar for robust ego-motion estimation in mobile platforms without requiring additional modalities like the visual, wheel, or inertial odometry. mmPhase leverages a phase-based velocity estimation approach to overcome the limitations of conventional doppler resolution. For real-world evaluations of mmPhase we have developed an ego-vehicle prototype. Compared to the state-of-the-art baselines, mmPhase shows superior performance in ego-velocity estimation.

中文翻译：

---

使用移动毫米波雷达进行动态自我速度估计：基于相位的方法

精确的自我运动测量对于机器人、增强现实和自主导航等各种应用至关重要。在这张海报中，我们提出了 mmPhase，一种基于单芯片毫米波 (mmWave) 雷达的里程计框架，用于在移动平台中进行稳健的自我运动估计，而不需要视觉、车轮或惯性里程计等额外模式。 mmPhase 利用基于相位的速度估计方法来克服传统多普勒分辨率的限制。为了对 mmPhase 进行实际评估，我们开发了一个自我车辆原型。与最先进的基线相比，mmPhase 在自我速度估计方面表现出优越的性能。