Hierarchical dual factor graphs with continuous bias-and-covariance injection from a persistent full-state backend suppress radar-inertial drift while delivering real-time odometry.
Rino: Accurate, robust radar-inertial odometry with non-iterative estimation,
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H-RINS: Hierarchical Tightly-coupled Radar-Inertial State Estimation via Smoothing and Mapping
Hierarchical dual factor graphs with continuous bias-and-covariance injection from a persistent full-state backend suppress radar-inertial drift while delivering real-time odometry.