VGC-RIO: A Tightly Integrated Radar-Inertial Odometry with Spatial Weighted Doppler Velocity and Local Geometric Constrained RCS Histograms

Jianguang Xiang, Xiaofeng He, Zizhuo Chen +3

Recent advances in 4D radar-inertial odometry have demonstrated promising potential for autonomous lo calization in adverse conditions. However, effective handling of sparse and no…