A self-supervised transformer and PointNet matcher for sparse, noisy consumer radar point clouds improves radar-inertial odometry position accuracy by 14 to 19 percent on average in real flights.
Radar inertial odometry with online calibration,
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Learning Point Correspondences In Radar 3D Point Clouds For Radar-Inertial Odometry
A self-supervised transformer and PointNet matcher for sparse, noisy consumer radar point clouds improves radar-inertial odometry position accuracy by 14 to 19 percent on average in real flights.