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cs.RO2026
TRaIL-Odom: Tightly Coupled Continuous Time Radar-IMU-LiDAR Odometry with Adaptive Doppler Weighting
Chiyun Noh, Turcan Tuna, William Talbot +3
Existing radar-LiDAR fusion methods rely on fixed residual weights, even though the informativeness of radar Doppler and LiDAR geometry is scan- and direction-dependent, leading to…
cs.RO2026
RaDiVe: Robust 4D Radar Odometry with Distance-Bounded NDT and Velocity-Discrepancy Point Uncertainty
Sangwoo Jung, Dongjae Lee, Chiyun Noh +1
Recent advances in 4D radar enable robust perception in adverse weather; however, the inherent sparsity, noise, and limited positional precision of radar point clouds pose signific…
cs.RO2026
Four Simple Proprioceptive Estimators for Legged Robots
Frank Dellaert, Chiyun Noh, Varun Agrawal +1
Legged robots carry an IMU, but the inertial solution drifts because consumer-grade IMUs are noisy. However, the feet create intermittent contacts with the environment that can be…