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 Design for Inertial Navigation Systems with Input Measurement Biases
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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.