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In order to tackle the challenge of unfavorable weather conditions such asrain and snow, radar is being revisited as a parallel sensing modality tovision and lidar. Recent works have made tremendous progress in applyingspinning radar to odometry and place recognition. However, these works have sofar ignored the impact of motion distortion and Doppler effects onspinning-radar-based navigation, which may be significant in the self-drivingcar domain where speeds can be high. In this work, we demonstrate the effect ofthese distortions on radar odometry using the Oxford Radar RobotCar Dataset andmetric localization using our own data-taking platform. We revisit alightweight estimator that can recover the motion between a pair of radar scanswhile accounting for both effects. Our conclusion is that both motiondistortion and the Doppler effect are significant in different aspects ofspinning radar navigation, with the former more prominent than the latter. Codefor this project can be found at:https://github.com/keenan-burnett/yeti_radar_odometry

Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation?