Abstract: The present disclosure provides a circuitry for radar detection data disambiguation for a mobile platform. The circuitry is configured to obtain radar detection data from a radar sensor mounted on the mobile platform, wherein the radar detection data indicate, for each of a plurality of targets, a radial velocity and an angle of arrival; estimate, based on the radar detection data, an ego-motion of the mobile platform; and determine an unambiguous radial velocity value of a target of the plurality of targets based on the ego-motion and the radar detection data.

Abstract: The present disclosure provides a circuitry for estimating a mounting angle of a radar sensor with respect to a mobile platform coordinate system. The circuitry is configured to estimate a first velocity of a first radar sensor, based on first radar detection data obtained from the first radar sensor, wherein the first radar detection data is indicative of at least two targets; estimate a second velocity of a second radar sensor, based on second radar detection data obtained from the second radar sensor, wherein the second radar detection data is indicative of at least two targets, and estimate the mounting angle of the first radar sensor, based on the estimated first velocity, the estimated second velocity, a predefined first mounting position of the first radar sensor with respect to the mobile platform coordinate system and a predefined second mounting position of the second radar sensor with respect to the mobile platform coordinate system.

Abstract: A circuitry for simultaneous localization and mapping for a mobile platform, wherein the circuitry is configured to: estimate, based on obtained radar detection data, an ego-motion of the mobile platform; and update, based on the estimated ego-motion and the obtained radar detection data, a set of particles, wherein each particle of the set of particles includes a location and an orientation of the mobile platform and an occupancy grid map that represents an environment of the mobile platform, wherein the occupancy grid map includes a plurality of cells and each cell of the plurality of cells is assigned an occupation probability which indicates a probability that the cell is occupied by a target.