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cs.RO2026
IMU Propagation as Preintegration
Jianzhu Huai
IMU preintegration is widely used in factor-graph-based visual--inertial, lidar--inertial, and radar--inertial state estimation, yet it is often treated as a specialized implementa…
cs.RO2026
RAMBA: 4D Radar Mapping by Bundle Adjustment
Jianzhu Huai, Yiwen Chen, Binliang Wang
4D radar is increasingly attractive for robotic mapping because it provides range, azimuth, elevation, and Doppler measurements while remaining robust in adverse visibility conditi…