Jianguang Xiang

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

Recent advances in 4D radar-inertial odometry have demonstrated promising potential for autonomous localization under adverse conditions. However, effective handling of sparse and noisy radar measurements remains a critical challenge. In this letter, we propose a novel 4D radar-inertial odometry tha