A transformer network estimates body-frame velocity and uncertainty from raw 4D radar spectral cubes, fused with IMU in a pose graph to achieve lower relative pose error than classical baselines on indoor sequences.
milliEgo: single- chip mmWave radar aided egomotion estimation via deep sensor fusion,
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UNRIO: Uncertainty-Aware Velocity Learning for Radar-Inertial Odometry
A transformer network estimates body-frame velocity and uncertainty from raw 4D radar spectral cubes, fused with IMU in a pose graph to achieve lower relative pose error than classical baselines on indoor sequences.