Julius Quell

Tightly-Coupled Factor Graph Formulation For Radar-Inertial Odometry

In this paper, we present a Radar-Inertial Odometry (RIO) method based on the nonlinear optimization of factor graphs in a sliding window fashion. Our method makes use of a light-weight, low-power, inexpensive and commonly available hardware enabling easy deployment on small Unmanned Aerial Vehicles…