Occupancy Grid Mapping for Personal Radar Applications

Personal radars have been recently proposed starting from the idea that a mobile device can automatically scan and reconstruct a map of the environment thanks to the adoption of millimeter-wave (mm-wave) massive antenna arrays with high-directivity radiation patterns. Unfortunately, despite the extremely narrow-beam achievable, antennas are far from having a pencil beam and, thus, mapping approaches developed for laser-based systems are not appropriate. In this paper, we propose an ad-hoc occupancy grid method for mapping, where the array radiation characteristics are accounted for into the observation model.