Image Processing Algorithms applied to Radio SLAM using MIMO Radars

Mariani, Mattia (2022) Image Processing Algorithms applied to Radio SLAM using MIMO Radars. [Laurea magistrale], Università di Bologna, Corso di Studio in Ingegneria elettronica e telecomunicazioni per l'energia [LM-DM270] - Cesena, Documento ad accesso riservato.
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Abstract

Radio Simultaneous Location and Mapping (SLAM) consists of the simultaneous tracking of the target and estimation of the surrounding environment, to build a map and estimate the target movements within it. It is an increasingly exploited technique for automotive applications, in order to improve the localization of obstacles and the target relative movement with respect to them, for emergency situations, for example when it is necessary to explore (with a drone or a robot) environments with a limited visibility, or for personal radar applications, thanks to its versatility and cheapness. Until today, these systems were based on light detection and ranging (lidar) or visual cameras, high-accuracy and expensive approaches that are limited to specific environments and weather conditions. Instead, in case of smoke, fog or simply darkness, radar-based systems can operate exactly in the same way. In this thesis activity, the Fourier-Mellin algorithm is analyzed and implemented, to verify the applicability to Radio SLAM, in which the radar frames can be treated as images and the radar motion between consecutive frames can be covered with registration. Furthermore, a simplified version of that algorithm is proposed, in order to solve the problems of the Fourier-Mellin algorithm when working with real radar images and improve the performance. The INRAS RBK2, a MIMO 2x16 mmWave radar, is used for experimental acquisitions, consisting of multiple tests performed in Lab-E of the Cesena Campus, University of Bologna. The different performances of Fourier-Mellin and its simplified version are compared also with the MatchScan algorithm, a classic algorithm for SLAM systems.

Abstract
Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Mariani, Mattia
Relatore della tesi
Correlatore della tesi
Scuola
Corso di studio
Ordinamento Cds
DM270
Parole chiave
Radio SLAM,Image Registration,Radar,MIMO
Data di discussione della Tesi
24 Novembre 2022
URI

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