We present Radarize, a self-contained SLAM pipeline for indoor environments that uses only a low-cost commodity single-chip mmWave radar. Our radar-native approach leverages phenomena unique to radio frequencies, such as doppler shift-based odometry, to improve performance. We evaluate our method on a large-scale dataset of 146 trajectories spanning 4 campus buildings, totaling approximately 4680m of travel distance. Our results show that our method outperforms state-of-the-art radar-based approaches by approximately 5x in terms of odometry and 8x in terms of end-to-end SLAM, as measured by absolute trajectory error (ATE), without the need additional sensors such as IMUs or wheel odometry.

翻译：我们提出Radarize，一种适用于室内环境的独立SLAM流水线，仅使用低成本商用单芯片毫米波雷达。这种基于雷达原生特性的方法利用了射频特有的现象（如基于多普勒频移的里程计）来提升性能。我们在包含146条轨迹的大规模数据集上评估了该方法，覆盖4栋校园建筑，总行程约4680米。结果表明，在绝对轨迹误差（ATE）指标下，我们的方法在里程计精度和端到端SLAM精度上分别比最先进的雷达方法提升约5倍和8倍，且无需惯性测量单元（IMU）或轮式里程计等额外传感器。