信号处理2025，Vol.41Issue(7)：1178-1189,12.DOI:10.12466/xhcl.2025.07.004
基于散射角的雷达虚警点云滑窗消除方法研究
Sliding-Window Approach for Radar False-Alarm Point-Cloud Suppression Based on Scattering Angle
摘要
Abstract
Owing to the rapid development of autonomous driving technology,4D millimeter-wave radar has become a key sensor for simultaneous localization and mapping(SLAM)owing to its all-weather adaptability and anti-interference capabilities.However,in confined environments such as tunnels,multipath effects result in false-positive point clouds that severely affect the positioning accuracy and mapping quality of radar SLAM systems.To address this issue,this paper pro-poses a novel sliding-window dynamic filtering algorithm based on the analysis of the characteristics of millimeter-wave ra-dar point-cloud data and scattering-angle features in tunnels.The method combines the spatial statistical characteristics of point clouds with neighborhood-density detection techniques to remove outlier-noise point clouds.It utilizes coarse radar point-cloud registration to obtain a prior estimated pose and incorporates three-dimensional pitch and azimuth scattering-angle features to distinguish and cluster the actual target point-cloud data.Subsequently,the random sample consensus al-gorithm is applied to fit the tunnel-wall plane and construct the tunnel-wall model.By introducing a dynamic sliding-window update strategy,the fitted tunnel-wall model and prior estimated pose are used to update the current pose node's distance to the wall boundary in real time.Additionally,a distance threshold is used to further eliminate false-positive point clouds and noise point clouds outside the tunnel space.Global pose correction and local map updates are completed within a factor-graph-optimization framework.This study conducts experimental verification using multiple datasets obtained in actual tunnel environments under different scenarios.The experimental results show that the proposed method effectively reduces false-positive point-cloud interference,significantly improves positioning accuracy and mapping quality,and maintains high stability in complex environments.This study provides new technical insights and implementation pathways for improving the robustness of 4D millimeter-wave radar SLAM in confined environments.关键词
4D毫米波雷达/同步定位与地图构建/虚警点云滑窗消除/隧道监测Key words
4D millimeter-wave radar/simultaneous localization and mapping(SLAM)/sliding-window-based false-alarm suppression/tunnel-environment monitoring分类
信息技术与安全科学引用本文复制引用
李洋,孙阿祥,申文杰,林赟,杜磊,王彦平..基于散射角的雷达虚警点云滑窗消除方法研究[J].信号处理,2025,41(7):1178-1189,12.基金项目
北京市自然科学基金资助项目(4232003) （4232003）
国家自然科学基金重点项目(62131001)Beijing Natural Science Foundation(4232003) （62131001）
The National Natural Science Foundation of China(62131001) （62131001）
