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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| Acceso en línea: | https://arxiv.org/abs/2604.14857 |
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| _version_ | 1866908970168352768 |
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| author | Dorndorf, Georg Adolfsson, Daniel Doostdar, Masrur |
| author_facet | Dorndorf, Georg Adolfsson, Daniel Doostdar, Masrur |
| contents | Automotive 4D imaging radar is well suited for operation in dusty and low-visibility environments, but scan registration remains challenging due to scan sparsity and spurious detections caused by noise and multipath reflections. This difficulty is compounded in feature-poor open-pit mines, where the lack of distinctive landmarks reduces correspondence reliability. We integrate graph-based pairwise consistency maximization (PCM) as an outlier rejection step within the iterative closest points (ICP) loop. We propose a radar-adapted pairwise distance-invariant scoring function for graph-based (PCM) that incorporates anisotropic, per-detection uncertainty derived from a radar measurement model. The consistency maximization problem is approximated with a greedy heuristic that finds a large clique in the pairwise consistency graph. The refined correspondence set improves robustness when the initial association set is heavily contaminated. We evaluate a standard Euclidean distance residual and our uncertainty-aware residual on an open-pit mine dataset collected with a 4D imaging radar. Compared to the generalized ICP (GICP) baseline without PCM, our method reduces segment relative position error (RPE) by 29.6% on 1 m segments and by up to 55% on 100 m segments. The presented method is intended for integration into localization pipelines and is suitable for online use due to the greedy heuristic in graph-based (PCM). |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_14857 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Graph Theoretical Outlier Rejection for 4D Radar Registration in Feature-Poor Environments Dorndorf, Georg Adolfsson, Daniel Doostdar, Masrur Robotics Automotive 4D imaging radar is well suited for operation in dusty and low-visibility environments, but scan registration remains challenging due to scan sparsity and spurious detections caused by noise and multipath reflections. This difficulty is compounded in feature-poor open-pit mines, where the lack of distinctive landmarks reduces correspondence reliability. We integrate graph-based pairwise consistency maximization (PCM) as an outlier rejection step within the iterative closest points (ICP) loop. We propose a radar-adapted pairwise distance-invariant scoring function for graph-based (PCM) that incorporates anisotropic, per-detection uncertainty derived from a radar measurement model. The consistency maximization problem is approximated with a greedy heuristic that finds a large clique in the pairwise consistency graph. The refined correspondence set improves robustness when the initial association set is heavily contaminated. We evaluate a standard Euclidean distance residual and our uncertainty-aware residual on an open-pit mine dataset collected with a 4D imaging radar. Compared to the generalized ICP (GICP) baseline without PCM, our method reduces segment relative position error (RPE) by 29.6% on 1 m segments and by up to 55% on 100 m segments. The presented method is intended for integration into localization pipelines and is suitable for online use due to the greedy heuristic in graph-based (PCM). |
| title | Graph Theoretical Outlier Rejection for 4D Radar Registration in Feature-Poor Environments |
| topic | Robotics |
| url | https://arxiv.org/abs/2604.14857 |