An equivariant filter for radar-inertial odometry maintains consistency and converges reliably even with large or wrong extrinsic calibration, outperforming EKF under errors while matching accuracy when calibration is correct.
Equivariant Filter (EqF),
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Equivariant Filter for Radar-Inertial Odometry
An equivariant filter for radar-inertial odometry maintains consistency and converges reliably even with large or wrong extrinsic calibration, outperforming EKF under errors while matching accuracy when calibration is correct.