Fernando Amodeo

4D Radar-Inertial Odometry Based on Gaussian Modeling and Multi-Hypothesis Scan Matching

4D millimeter-wave (mmWave) radars are sensors that provide robustness against adverse weather conditions (rain, snow, fog, etc.), and as such they are increasingly used for odometry and SLAM (Simultaneous Location and Mapping). However, the noisy and sparse nature of the returned scan data proves t