RaI-SLAM: Radar-inertial SLAM for Autonomous Vehicles
Published in IEEE Robotics & Automation Letters, 2025
RaI-SLAM introduces a tightly coupled radar–IMU odometry front-end and a novel radar factor for graph optimisation. Experiments on MulRan and RADIATE show state-of-the-art performance.
Recommended citation: Daniel Casado Herraez, Matthias Zeller, Dong Wang, Jens Behley, Michael Heidingsfeld, Cyrill Stachniss (2025). "RaI-SLAM: Radar-inertial SLAM for Autonomous Vehicles." IEEE Robotics & Automation Letters, 10(5).
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