RAGNAROK: Radar-Aided Gravity-Normalized Alignment for Robust Open Keyframe-based Radar-Visual-Kinematic-Inertial SLAM

arXiv:2610.11531 · cs.RO · Submitted 2026-10-08 · Read on arXiv

cs.RO

Submitted: 2026-10-08

Updated: 2026-10-08

Code: https://github.com/hanjun815/RAGNAROK

Terminology

Alignment — 7× in this paper · explained in 1 episode
Calibration — 6× in this paper · explained in 7 episodes
Ablation — 5× in this paper · explained in 1 episode
Accuracy — 5× in this paper · explained in 1 episode
Adaptive Weighting — 3× in this paper · explained in 1 episode
Ablation study — 2× in this paper · explained in 1 episode
Bayesian Optimization — 2× in this paper · explained in 3 episodes
Degeneracy — 2× in this paper · explained in 3 episodes
Verification — 2× in this paper · explained in 2 episodes
Ablation Studies — 1× in this paper · explained in 1 episode
Activation Function — 1× in this paper · explained in 1 episode
Average Precision — 1× in this paper
Bayesian Optimization (BO) — 1× in this paper · explained in 3 episodes
Benchmarking — 1× in this paper · explained in 3 episodes
Consistency — 1× in this paper · explained in 3 episodes
Downstream Tasks — 1× in this paper · explained in 2 episodes
Failure Modes — 1× in this paper · explained in 3 episodes
Feature Extraction — 1× in this paper · explained in 2 episodes
Generalization — 1× in this paper · explained in 13 episodes
Multimodal Fusion — 1× in this paper · explained in 3 episodes

Sources

Proprioceptive Invariant Robot State Estimation

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