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DRT&R: Direct Radar Teach & Repeat — arXiv:2609.17766

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.17766
License (as archived): CC0-1.0
Archived: 2026-10-15T16:55:36.631Z
SHA-256 of the archived text: 816a705ca3e0720fd5be6f9de1dedb984e85bbcea70040d59a62d5dc21aa96a1
Stable URL of this page: https://metraipolis.com/documento/dc_acfc7db2e677

How to cite

DRT&R: Direct Radar Teach & Repeat — arXiv:2609.17766 — arXiv (en), https://arxiv.org/abs/2609.17766 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_acfc7db2e677 (Metraipolis archive dc_acfc7db2e677, sha256 816a705ca3e0720fd5be6f9de1dedb984e85bbcea70040d59a62d5dc21aa96a1)

BibTeX

@misc{dcacfc7db2e677,
  title = {DRT&R: Direct Radar Teach & Repeat — arXiv:2609.17766},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.17766},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_acfc7db2e677; sha256 816a705ca3e0720fd5be6f9de1dedb984e85bbcea70040d59a62d5dc21aa96a1},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.17766. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Radar-based navigation is appealing for its robustness to adverse conditions involving airborne particles, such as precipitation, dust, fog, and smoke, that can cause lidar-based systems to fail. Recently, direct methods that retain and use the entire radar scan rather than sparse points have improved on-road global localization performance. However, they have yet to be deployed in off-road environments or in closed-loop systems. Additionally, even direct global maps may lose information: their global nature leads to a smoothing out of viewpoint-dependent radar artifacts, which can provide pose information when mapping and localization occur along similar trajectories. This paper introduces Direct Radar Teach & Repeat (DRT&R): a direct spinning radar-based navigation stack that maximizes the amount of retained information by combining direct radar processing with local mapping. DRT&R yields state-of-the-art (SOTA) localization performance in both on-road and off-road environments. Using 344 km of on-road data and 20 km of off-road data, DRT&R is able to localize to within 4 cm in most on-road and off-road conditions, and 12 cm in geometrically degenerate and sparse environments. DRT&R is also evaluated autonomously in closed loop with an MPC controller for more than 10 km using a Clearpath Warthog off-road vehicle, demonstrating that it runs in real time and achieves SOTA tracking performance for off-road radar navigation.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-17 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2609.17766 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-15T16:13:27.235Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-17?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).