RAW-ROAM: Really Adverse Weather-Radar Odometry and Mapping (Python reimplementation of RadarSLAM)

A Python reimplementation of odometry and mapping component of RadarSLAM by Hong et al. [1,2].

Done for CMU 16-833 Course: Localization and Mapping, by Samuel Leong, Kevin Liu, Brian Zhang and Alex Chen.

Final Paper: RAW-ROAM: An Open-Source Implementation of Adverse Weather RadarSLAM

Results (Odometry)

With Motion Compensation

Without Motion Compensation:

Running Code

Requires Python. Tested on Python >= 3.9.

pip install -r requirements.txt
python3 RawROAMSystem.py <DATASET_NAME> [START_FRAME_IND [END_FRAME_IND]]

Radar Sequences

Radar sequences can be obtained from Oxford Radar RobotCar Dataset and should be placed in the ./data folder. The folder organization listed as full_seq_1 is an example of how the directory looks like, and is taken from the 10-11-46-21 sequence.

Documentation

See the docs:

• HTML
• PDF

Relevant Papers

1. RadarSLAM (2021)
2. RadarSLAM (2020)
3. PhaRaO