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A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics

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arxiv 2305.01135 v4 pith:ILXZRL7M submitted 2023-05-02 cs.RO

Kyle Harlow , Hyesu Jang , Timothy D. Barfoot , Ayoung Kim , Christoffer Heckman This is my paper · ORCID
classification cs.RO
keywords roboticsradarapplicationsmmwavethencurrentoperatingresearch
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We survey the current state of millimeterwave (mmWave) radar applications in robotics with a focus on unique capabilities, and discuss future opportunities based on the state of the art. Frequency Modulated Continuous Wave (FMCW) mmWave radars operating in the 76--81GHz range are an appealing alternative to lidars, cameras and other sensors operating in the near visual spectrum. Radar has been made more widely available in new packaging classes, more convenient for robotics and its longer wavelengths have the ability to bypass visual clutter such as fog, dust, and smoke. We begin by covering radar principles as they relate to robotics. We then review the relevant new research across a broad spectrum of robotics applications beginning with motion estimation, localization, and mapping. We then cover object detection and classification, and then close with an analysis of current datasets and calibration techniques that provide entry points into radar research.

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Cited by 2 Pith papers

Reviewed papers in the Pith corpus that reference this work. Sorted by Pith novelty score. Full citation record

  1. HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM

    cs.RO 2025-02 conditional novelty 8.0 of 10

    The paper introduces the first public dataset combining 4D radar, spinning radar, and FMCW LiDAR, with repeated traversals and per-sensor ground truth for SLAM and place recognition.

  2. AF-RLIO: Adaptive Fusion of Radar-LiDAR-Inertial Information for Robust Odometry in Challenging Environments

    cs.RO 2025-07 conditional novelty 4.0 of 10

    AF-RLIO adaptively switches between LiDAR-inertial and radar-inertial odometry based on a feature-ratio degradation detector and uses chi-square GPS outlier weighting, showing lower APE in tunnels and smoke than the t...

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