用椭圆扫描增强雷达定位，让低分辨率雷达也能实现海上自主导航
XPRESS: X-Band Radar Place Recognition via Elliptical Scan Shaping
- 基于目标密度筛选候选区域，提升搜索效率
- 主动降噪处理使雷达数据更鲁棒，识别准确率显著提升
- 专为船用X波段雷达设计，适合海上无人航行系统
X波段雷达是海上船舶的主要传感器，但因其分辨率低、信息量不足，限制了在自主导航中的应用。本文提出一种专为X波段雷达设计的场景识别算法，结合目标密度规则进行高效候选选择，并通过有意降级雷达检测实现更强的检索鲁棒性。该算法在公开海事雷达数据集及自建数据集上评估，性能优于当前主流雷达场景识别方法。消融实验分析了关键参数对性能的影响。
原文摘要 · Abstract (English)
X-band radar serves as the primary sensor on maritime vessels, however, its application in autonomous navigation has been limited due to low sensor resolution and insufficient information content. To enable X-band radar-only autonomous navigation in maritime environments, this paper proposes a place recognition algorithm specifically tailored for X-band radar, incorporating an object density-based rule for efficient candidate selection and intentional degradation of radar detections to achieve robust retrieval performance. The proposed algorithm was evaluated on both public maritime radar datasets and our own collected dataset, and its performance was compared against state-of-the-art radar place recognition methods. An ablation study was conducted to assess the algorithm's performance sensitivity with respect to key parameters.
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