EchoMap — Ellipsoidal GM (Paper)

EchoMap / Ellipsoidal GM

BISTATIC · RADAR · MAPPING

Jaebok Lee · ok7393@hanyang.ac.kr · Hanyang Univ.

Environment

Seed 42

Gap height 10 m

Roughness 0.40

Curvature 0.25

Vehicles

Count 20

Speed 5.0

Spread 6.0

Noise

σ_noise (delay) 0.10

σ_p (position) 0.10

GM Parameters

η (forgetting) 0.999

τ_p (prune) 3e-5

τ_m (merge B.) 0.10

σ_⊥ (normal) 0.20

σ_∥ (tangent) 0.30

Δs (arc spacing) 1.50

Wall Extraction

τ_w (threshold) 0.30

τ_r (ridge/NMS min) 0.03

ε_g (grad bound) 0.10

Display

Grid G 150

Panel FPS 20

Statistics

Ellipses

0

Steps

0

Grid Direct

GM Paper

Wall: —

Wall: —

Comp: —

Comp: —

⏱ —

⏱ —

Wall Estimation Metrics

Grid Direct

GM Paper

F1 Score

—

F1 Score

—

Precision

—

Recall

—

MCD (m)

—

Score

—

Precision

—

Recall

—

MCD (m)

—

Score

—

A Map — GT Walls · Ellipses · Wall Estimates

B Grid Direct — Density

C GM Paper — Density

D Grid Direct — Wall Mask

E GM Paper — Wall Mask