Dr-BA delivers a separable optimization approach for direct radar bundle adjustment and cross-session localization using full spinning-radar intensity images, achieving state-of-the-art performance on over 200 km of on-road data.
Boreas road trip: A multi-sensor autonomous driving dataset on challenging roads
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Dr-PoGO achieves state-of-the-art radar SLAM performance over 300 km of real-world automotive data by combining direct radar odometry, coarse-to-fine loop-closure registration, and pose-graph optimization.
3DRO performs SE(3) odometry by combining 2D imaging radar data with gyroscope measurements and achieves lidar-level accuracy on 643 km of driving data.
citing papers explorer
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Dr-BA: Separable Optimization for Direct Radar Bundle Adjustment & Localization
Dr-BA delivers a separable optimization approach for direct radar bundle adjustment and cross-session localization using full spinning-radar intensity images, achieving state-of-the-art performance on over 200 km of on-road data.
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Dr-PoGO: Direct Radar Pose-Graph Optimization
Dr-PoGO achieves state-of-the-art radar SLAM performance over 300 km of real-world automotive data by combining direct radar odometry, coarse-to-fine loop-closure registration, and pose-graph optimization.
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3DRO: Lidar-level SE(3) Direct Radar Odometry Using a 2D Imaging Radar and a Gyroscope
3DRO performs SE(3) odometry by combining 2D imaging radar data with gyroscope measurements and achieves lidar-level accuracy on 643 km of driving data.