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Discusses the use of a 77 GHz millimetre wave radar as a guidance sensor for autonomous land vehicle navigation. An extended Kalman filter (EKF) maintains an estimate of map features in addition to vehicle state. This map augmented EKF is implemented with radar reflectors, designed for high visibility from all orientations. An improvement on this approach enables natural features to be identified, using the polarisation of returned radar signals. Those that are suitable as navigational markers are used to update estimates of vehicle and feature locations. This method requires no a priori knowledge of the environment and no target infrastructure.
Clark et al. (Mon,) studied this question.