Millimeter-Wave Radar-Based Ego-Trajectory Estimation of a Vehicle Using Multitarget Tracking Filter

IEEE Sensors Letters 2026 Open access

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Authors: Terawake Ryuto, Keiji Jimi, Kenshi Saho
DOI: 10.1109/lsens.2026.3669681
Cited by: 0
References: 17

Abstract

We present a method for ego-trajectory estimation of a vehicle using only a millimeter-wave radar. The proposed method introduces a Kalman-filter-based multi-target tracking to accurately estimate the relative positions of surrounding static objects as landmarks for an ICP (Iterative Closest Point) matching method. On measured data, a maximum error for a turning trajectory estimation decreased from 1.8 m (ICP-only) to 0.18 m when the proposed tracking method was applied. These results demonstrate that explicit tracking is an effective complement to ICP for accurate, robust ego-localization.

Fields of Study & Subjects

Robotics and Sensor-Based Localization Autonomous Vehicle Technology and Safety Target Tracking and Data Fusion in Sensor Networks

Publication details

Journal / source
IEEE Sensors Letters
Volume
10
Issue
4
Pages
1–4
Publication date
3 March 2026
Language
EN