Bohan Shi

VoxEKF-RIO: A 4D Radar Inertial Odometry Based on Incremental Voxel Map and Iterated Kalman Filter

4D mmWave radar provides the point cloud with range, azimuth, elevation, Doppler velocity and operates normally in severe weather conditions. However, due to wavelength characteristics, the noisy and sparse point cloud that 4D radar collects poses great challenges for SLAM research. In this paper, w