Radar-Inertial Odometry

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Overview

Radar-inertial odometry combines radar observations—often Doppler-based ego-velocity—with inertial measurements to track a robot’s position and orientation. Common approaches use extended Kalman filters or factor graphs with IMU preintegration, and increasingly model sensor uncertainty, online calibration, and loop closures to limit drift. The methods target settings such as UAV flight, off-road and subterranean navigation, where darkness, dust, or sparse features can undermine cameras or LiDAR; some systems also add those sensors, leg kinematics, or radar scene mapping. A central challenge is making estimates reliable across noisy or aliased radar returns, changing terrain and motion, and imperfect calibration while meeting real-time and embedded-compute limits.

Latest papers

CardsList

18 papers2 papers in the last four weeks, against 1 the four weeks before. 0.0% of all new papers.

  1. Resilient Decentralized Radar-LiDAR-Inertial Odometry in Challenging Subterranean Environments

    Oct 23, 2026Moumita Mukherjee, Avijit Banerjee, Anton Koval +1Robot LocalizationRadar-LiDAR Fusion

    Robotics and AI Team, Department of Computer Science, Electrical Engineering and Space Engineering, Luleå University of Technology, Luleå, Sweden

  2. Embedded Bare-Metal Radar-Inertial Odometry

    Oct 5, 2026Nicolai Adil Øyen Aatif, Morten Nissov, Kostas AlexisUAV NavigationRadar-Inertial Odometry

    Department of Engineering Cybernetics Norwegian University of Science and Technology O. S. Bragstads Plass 2D, 7034 Trondheim, Norway

  3. TRaIL-Odom: Tightly Coupled Continuous Time Radar-IMU-LiDAR Odometry with Adaptive Doppler Weighting

    Sep 3, 2026Chiyun Noh, Turcan Tuna, William Talbot +3Adaptive Loss WeightingRadar-Inertial Odometry

    Department of Mechanical Engineering, Seoul National University, S. Korea · Robotic Systems Lab (RSL), ETH Zürich, 8092 Zürich, Switzerland · Robotics and AI Institute (RAI), Zürich, Switzerland

  4. Dense Soft Weighting for Radar Ego-Velocity Estimation

    Jul 29, 2026Atar Babgei, Chenyu Zhao, Michael Breza +1Recursive Least SquaresMillimeter-Wave Radar

    Imperial College London

  5. FD-SLAM: Fast Dense Radar-Inertial SLAM with Frequency-Domain Loop Closure and Pose Graph Optimization

    Jun 13, 2026Nader J. Abu-Alrub, Nathir A. RawashdehSimultaneous Localization and MappingPose Graph Optimization

  6. On the Characterization and Limits of 4D Radar for Aided Inertial Navigation

    May 3, 2026Morten Nissov, Kostas AlexisRadar-Inertial OdometryInertial Navigation

    Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway

  7. Pushing Radar Odometry Beyond the Pavement: Current Capabilities and Challenges

    Apr 27, 2026Shaunak Kolhe, Peng Jiang, Maggie Wigness +4Mobile RoboticsRadar-Inertial Odometry

    Texas A&M University · DEVCOM Army Research Laboratory

  8. Equivariant Filter for Radar-Inertial Odometry

    Apr 24, 2026Giulio Delama, Jan Michalczyk, Morten Nissov +4Inertial OdometryEquivariant Filtering

    Control of Networked Systems Group, University of Klagenfurt, Austria · Autonomous Robots Lab, Norwegian University of Science and Technology, Norway · Hexagon Robotics, Zurich, Switzerland

  9. Radar Odometry Subject to High Tilt Dynamics of Subarctic Environments

    Apr 21, 2026Matěj Boxan, William Larrivée-Hardy, François PomerleauRobot NavigationRadar-Inertial Odometry

    Northern Robotics Laboratory, Université Laval, Quebec, Canada. · Université Laval, Quebec, Canada.

  10. UNRIO: Uncertainty-Aware Velocity Learning for Radar-Inertial Odometry

    Apr 15, 2026Jui-Te Huang, Tianshu Huang, Anthony Rowe +1Radar-Inertial OdometryRobot State Estimation

    Carnegie Mellon University, Pittsburgh, PA 15213, USA

  11. RadarSplat-RIO: Indoor Radar-Inertial Odometry with Gaussian Splatting-Based Radar Bundle Adjustment

    Apr 15, 2026Pou-Chun Kung, Yuan Tian, Zhengqin Li +4Simultaneous Localization and MappingRadar-Inertial Odometry

    Meta Reality Labs, Redmond, WA 98052 · Department of Robotics, University of Michigan, Ann Arbor, MI 48109

  12. 3DRO: Lidar-level SE(3) Direct Radar Odometry Using a 2D Imaging Radar and a Gyroscope

    Apr 13, 2026Cedric Le Gentil, Daniil Lisus, Timothy D. BarfootRobot State EstimationRadar-Inertial Odometry

    Robotics Institute, University of Toronto · Mobile Robotics Lab, ETH Zurich

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

    Apr 3, 2026Wooseong Yang, Dongjae Lee, Minwoo Jung +1Simultaneous Localization and MappingInertial Odometry

    Dept. of Mechanical Engineering, SNU, Seoul, S. Korea

  14. Tightly-Coupled Radar-Visual-Inertial Odometry

    Mar 24, 2026Morten Nissov, Mohit Singh, Kostas AlexisRobot LocalizationCamera-Radar Fusion

    All authors are with the Department of Engineering Cybernetics, O. S. Bragstads Plass 2D, Norwegian University of Science and Technology (NTNU), Trondheim, Norway.

  15. Radar-Inertial Odometry with Online Spatio-Temporal Calibration via Continuous-Time IMU Modeling

    Mar 20, 2026Vlaho-Josip Štironja, Luka Petrović, Juraj Peršić +2Radar-Inertial OdometryRobot State Estimation

    University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Autonomous Systems and Mobile Robotics (LAMOR), Unska 3, HR-10000, Zagreb, Croatia · Calirad d.o.o., Augusta Harambašića 4, HR-10000, Zagreb, Croatia

  16. LoCal-RIO: Radar-Inertial Odometry with Loop-Closure IMU Bias Calibration

    Mar 14, 2026Ali Alridha Abdulkarim, Mikhail Litvinov, Zein Alabdeen Abdulkarim +1Simultaneous Localization and MappingFactor Graph Optimization

    Intelligent Space Robotics Laboratory, Center for Digital Engineering, Skolkovo Institute of Science and Technology.

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

    Feb 27, 2026Moumita Mukherjee, Magnus Norén, Anton Koval +2Radar-Inertial OdometryRobotics

  18. GaRLILEO: Gravity-aligned Radar-Leg-Inertial Enhanced Odometry

    Nov 17, 2025Chiyun Noh, Sangwoo Jung, Hanjun Kim +3Legged RoboticsInertial Odometry

    Dept. of Mechanical Engineering, SNU, Seoul, S. Korea · Robotics and AI Institute, Cambridge, USA