Self-motion estimation method based on millimeter wave radar and robot

The invention discloses a self-motion estimation method based on a millimeter wave radar and a robot. The self-motion estimation method comprises the following steps: performing data acquisition based on a millimeter-wave radar and transmitting the data to a data processing module, and receiving and responding the acquired data by the data processing module to perform a preprocessing stage so as to obtain a three-dimensional millimeter-wave radar point cloud, and the data processing module converts the processed three-dimensional millimeter-wave radar point cloud and projects the point cloud to a first preset plane to perform linear fitting and key point extraction, and obtains rigid conversion between adjacent frames to obtain motion information of the robot. The robot using the self-motion estimation method can be applied to an underground unknown closed environment without an IMU (Inertial Measurement Unit) and can obtain reliable measurement information. 本申请公开一种基于毫米波雷达的自运动估计方法及机器人。该自运动估计方法包括：基于毫米波雷达进行数据采集