Moumita Mukherjee

How IMU Drift Influences Multi-Radar Inertial Odometry for Ground Robots in Subterranean Terrains

Reliable radar inertial odometry (RIO) requires mitigating IMU bias drift, a challenge that intensifies in subterranean environments due to extreme temperatures and gravity induced accelerations. Cost-effective IMUs such as the Pixhawk, when paired with FMCW TI IWR6843AOP EVM radars, suffer from dri…