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Published at November 26

Loosely coupled 4D-Radar-Inertial Odometry for Ground Robots

cs.RO

Released Date: November 26, 2024

Authors: Lucia Coto Elena, Fernando Caballero¹, Luis Merino¹

Aff.: ¹Service Robotics Laboratory, Universidad Pablo de Olavide, Sevilla, 41013, Spain

Arxiv: http://arxiv.org/abs/2411.17289v1

Refer to caption

	Cp			Nyl
	$t_{\text{abs},x}$	$t_{\text{abs},y}$	$t_{\text{abs},z}$	$t_{\text{abs},x}$	$t_{\text{abs},y}$	$t_{\text{abs},z}$
Classic	1.209	0.710	4.344	27.329	60.901	4.898
Ours	1.383	0.810	0.485	27.388	62.508	9.322
	Loop1			Loop2
	$t_{\text{abs},x}$	$t_{\text{abs},y}$	$t_{\text{abs},z}$	$t_{\text{abs},x}$	$t_{\text{abs},y}$	$t_{\text{abs},z}$
Classic	193.907	106.420	32.031	229.866	137.535	90.738
Ours	194.972	105.847	14.076	231.319	140.468	16.313