Milli-RIO: Ego-Motion Estimation with Millimetre-Wave Radar and Inertial Measurement Unit Sensor

With the fast-growing demand of location-based services in various indoor environments, robust indoor ego-motion estimation has attracted significant interest in the last decades. Single-chip millimeter-wave (MMWave) radar as an emerging technology provides an alternative and complementary solution for robust ego-motion estimation. This paper introduces Milli-RIO, a MMWave radar based solution making use of a fixed beam antenna and inertial measurement unit sensor to calculate 6 degree-of-freedom pose of a moving radar. Detailed quantitative and qualitative evaluations prove that the proposed method achieves precisions on the order of few centimetres for indoor localization tasks.