A geometrically constrained radar-inertial odometry system uses continuous propagation of point and pose uncertainties to down-weight unreliable measurements and build higher-fidelity maps.
Asynchronous multiple lidar-inertial odometry using point-wise inter-lidar un- certainty propagation
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Geometrically-Constrained Radar-Inertial Odometry via Continuous Point-Pose Uncertainty Modeling
A geometrically constrained radar-inertial odometry system uses continuous propagation of point and pose uncertainties to down-weight unreliable measurements and build higher-fidelity maps.