Triangulation of 3D Target Points from Radar Range and Bearing Data
We propose a method for estimating the 3D position of a target point, given multiple measurements of it, using mm-wave radar data. Given azimuth headings and range estimates from posed radar positions, we find the 3D position, using an approximate, but geometrically and statistically meaningful cost. The 3D position is found in an optimal way, using this approximate cost. By deriving the Lagrangia
