Hierarchical Architecture and Feature Mixing for Ego-Motion Estimation using Automotive Radar

Abstract:
This paper focuses on the challenge of estimating the 2D instantaneous ego-motion of vehicles equipped with an automotive radar. To further improve our previous study based on the weighted least squares (wLSQ) method and purpose-designed neural networks (NNs), this work proposes a new network architecture that supports local and global feature extraction as well as point-wise dynamic feature channel mixing. Compared with our previous work, the proposed method provides better estimation accuracy, lighter network size, and faster runtime performance.