I am wondering how to use FMCW radar to estimate ego-motion? Is there any publication focusing on this topic? If one radar on the vehicle is not enough for estimation, how about using both on the vehicle and road, utilizing the sensor redundancy to make up the weakness？
Why choose radar is because in contrast to cameras, lidars, GPS, and proprioceptive sensors, radars are affordable and efficient systems that operate well under variable weather and lighting conditions, require no external infrastructure, and detect long-range objects.
FMCW radars operating in 24GHz or 77GHz can be used as automotive radars. ego-motion needs to estimate the motion in the three axis. Well, if you have the range information and the two angles in the horizontal and vertical planes, then you have the ego-motion. However, on the road there is no need to measure the angle in the vertical plane. I suggest to use FMCW radar with array of antennas to estimate the range and the angle of arrival. There is no need to put another one on the road, make it on the vehicle only and you will hot the target.
FMCW radar with a phased array antenna is suitable for your work. But your system will not be accurate enough, and you have to use other methods such as LiDAR, GPS, etc together.
if you use FMCW radar and LiDAR together, the accuracy of your system increases significantly.
We implemented a novel technique in laser rangefinders and LiDAR systems, which is low-cost and has high accuracy. (this technique was tested and currently, we are writing the results for publishing.)
Maybe this technique will be suitable for your work.
Finally, I suggest using FMCW radar and LiDAR together, if you need high accuracy. However, if you insist on using only FMCW radar, you must use two radars at two different points at a certain distance from each other, for increasing the accuracy of your system.
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