A radar-inertial odometry method with tilt-aware submap search achieves state-of-the-art urban performance and a 0.3% gain over the next best method on a 2 km high-tilt trajectory.
Estimation of IMU and MARG ori- entation using a gradient descent algorithm,
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Radar Odometry Subject to High Tilt Dynamics of Subarctic Environments
A radar-inertial odometry method with tilt-aware submap search achieves state-of-the-art urban performance and a 0.3% gain over the next best method on a 2 km high-tilt trajectory.