We survey the current state of millimeterwave (mmWave) radar applications in robotics with a focus on unique capabilities, and discuss future opportunities based on the state of the art. Frequency Modulated Continuous Wave (FMCW) mmWave radars operating in the 76--81GHz range are an appealing alternative to lidars, cameras and other sensors operating in the near visual spectrum. Radar has been made more widely available in new packaging classes, more convenient for robotics and its longer wavelengths have the ability to bypass visual clutter such as fog, dust, and smoke. We begin by covering radar principles as they relate to robotics. We then review the relevant new research across a broad spectrum of robotics applications beginning with motion estimation, localization, and mapping. We then cover object detection and classification, and then close with an analysis of current datasets and calibration techniques that provide entry points into radar research.

翻译：我们综述了毫米波雷达在机器人领域的当前应用现状，重点关注其独特能力，并基于最新技术发展探讨未来机遇。工作在76-81GHz频段的调频连续波毫米波雷达，是激光雷达、摄像头及其他近可见光谱传感器的理想替代方案。雷达通过新型封装形式实现了更广泛的可用性，更便于机器人集成，其较长波长能穿透雾、尘埃和烟雾等视觉干扰物。本文首先阐述与机器人技术相关的雷达基本原理，继而系统梳理运动估计、定位与建图等机器人应用领域的相关前沿研究，接着讨论物体检测与分类技术，最后通过分析现有数据集和标定技术为雷达研究提供切入点。