{"paper":{"title":"Continuous-Time Radar-Inertial and Lidar-Inertial Odometry using a Gaussian Process Motion Prior","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Angela P. Schoellig, Keenan Burnett, Timothy D. Barfoot","submitted_at":"2024-02-09T04:15:40Z","abstract_excerpt":"In this work, we demonstrate continuous-time radar-inertial and lidar-inertial odometry using a Gaussian process motion prior. Using a sparse prior, we demonstrate improved computational complexity during preintegration and interpolation. We use a white-noise-on-acceleration motion prior and treat the gyroscope as a direct measurement of the state while preintegrating accelerometer measurements to form relative velocity factors. Our odometry is implemented using sliding-window batch trajectory estimation. To our knowledge, our work is the first to demonstrate radar-inertial odometry with a spi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.06174","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2402.06174/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}