Geometrically-Constrained Radar-Inertial Odometry via Continuous Point-Pose Uncertainty Modeling

arXiv:2604.02745 · cs.RO · Submitted 2026-04-03 · Read on arXiv

cs.RO

Submitted: 2026-04-03

Updated: 2026-09-17

Code: https://github.com/wooseongY/GeoRIO

Terminology

• Accuracy — 17× in this paper · explained in 1 episode
• Fidelity — 6× in this paper · explained in 2 episodes
• Sparsity — 5× in this paper · explained in 4 episodes
• Consistency — 4× in this paper · explained in 3 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Degeneracy — 3× in this paper · explained in 3 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Absolute Translation Error — 1× in this paper
• Calibration — 1× in this paper · explained in 7 episodes
• Cooperation — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Radar Cross Section — 1× in this paper
• Relative Pose Error — 1× in this paper

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