GP-based continuous preintegration of radar Doppler velocity with IMU, combined with uncertainty-aware zone-based ground filtering, reduces vertical drift in 4D radar-inertial odometry.
A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics,
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Ground-Optimized 4D Radar-Inertial Odometry via Continuous Velocity Integration using Gaussian Process
GP-based continuous preintegration of radar Doppler velocity with IMU, combined with uncertainty-aware zone-based ground filtering, reduces vertical drift in 4D radar-inertial odometry.