Multi-State Tightly-Coupled EKF-Based Radar-Inertial Odometry With Persistent Landmarks
Jan Michalczyk,Roland Jung,Christian Brommer,Stephan Weiss,Jan Michalczyk,Roland Jung,Christian Brommer,Stephan Weiss
In this paper, we present a Radar-Inertial Odometry (RIO) approach that utilizes performance improving modules, enhanced for the sparse and noisy radar signals, from the vision community in order to estimate the full 6DoF pose and 3D velocity of a robot in an unprepared environment. Our method leverages a multi-state approach in which we make use of several past robot poses and trails of measureme...
