← Back to Benchmarks
simmediumroboticsmetric · varies
Geometrically-Constrained Radar-Inertial Odometry via Continuous Point-Pose Uncertainty Modeling
Description
Radar odometry is crucial for robust localization in challenging environments; however, the sparsity of reliable returns and distinctive noise characteristics impede its performance. This paper introduces geometrically-constrained radar-inertial odometry and mapping that jointly consolidates point and pose uncertainty. We employ the continuous trajectory model to estimate the pose uncertainty at any arbitrary timestamp by propagating uncertainties of the control points. These pose uncertainties