This video demonstrates an autonomous drone flight even in dense fog using X-RIO: Radar Inertial Odometry with Multiple Radar Sensors and Yaw Aiding. In contrast to vision based state estimation, X-RIO is not affected by challenging visual conditions such as fog, smoke, darkness or direct sunlight.

This approach uses three FMCW mmWave radar sensors simultaneously. The sensor setup consists of two IWR6843AOPEVM and a IWR6843ISK FMCW radar sensor and an ADIS16448 Inertial Measurement Unit. All processing is done onboard in real-time.

The radar inertial SLAM combines x-RIO with Google Cartographer. Mapping of the environment can be done even in dense fog as demonstrated with this flight.

X-RIO Code: [ Ссылка ]

More Info: [ Ссылка ]

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