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Original question:

IWR1843BOOST: How to run Autonomous Robotics lab with my EVM.

IWR1843BOOST: SLAM with mmwave Radar

Rahul Sharma
Prodigy 40 points
Part Number: IWR1843BOOST

Hi,

I am working with IWR1843BOOST radar kit. I am able to run the ROS driver "radar-lab/ti_mmwave-rospkg" and get the raw pointcloud and working on stiching the pointcloud with intel T265 tracking camera (for odometry).

The points are very sparsed and noisy. Is anyone working to build SLAM based on this radar with some  other odometry device (apart from Turtlebot example)?

Basically my idea is to build approx 3D map of surroundings with this Radar (Intensity based)....Is this possible?

Thanks.

  • 0
    TI__Mastermind 22907 points

    Hello,

    We are currently not creating a SLAM based Radar demo, however it is very possible to create an intensity based mapping. If you go to the source of the ROS Driver, there is a file called DataHandlerClass.cpp. Within this file you can see all the parameters read in by the sensor. The default launch file and PointCloud2 msg only takes 3D location of a point into display, however within that file you can see the sensor gives much more information such as doppler, azimuth, and intensity. You can use these additional point characteristics and add them to the current PointCloud2 message.

    Best Regards,

    Pedrhom Nafisi