Triangulation of 3D target points from radar range and bearing data

Magnus Oskarsson

Abstract: We propose a method for estimating the 3D position of a target point, given multiple measurements of it, using mm-wave radar data. Given azimuth headings and range estimates from posed radar positions, we find the 3D position, using an approximate, but geometrically and statistically meaningful cost. The 3D position is found in an optimal way, using this approximate cost. By deriving the Lagrangian of the corresponding maximum likelihood and maximum a posteriori estimates, we show that we can find all local minima by solving an eigenvalue problem. The global optimum can then easily and efficiently be extracted from these solutions. We validate the method on synthetic data and test it on several real world datasets.

Submission Number: 2