Derives first-principles noise models for FMCW radar and proposes a factor graph estimator that shows superior robustness and accuracy for inertial navigation in simulations and field experiments.
Scan context: Egocentric spatial descriptor for place recognition within 3d point cloud map,
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On the Characterization and Limits of 4D Radar for Aided Inertial Navigation
Derives first-principles noise models for FMCW radar and proposes a factor graph estimator that shows superior robustness and accuracy for inertial navigation in simulations and field experiments.