Jul 2026
RaDiVe: Robust 4D Radar Odometry with Distance-Bounded NDT and Velocity-Discrepancy Point Uncertainty
A velocity-discrepancy point uncertainty model is proposed that weights each input 4D radar point according to the discrepancy between its measured Doppler radial velocity and the radial velocity predicted from the estimated ego-velocity to improve accuracy and robustness of radar point-cloud registration.
Sangwoo Jung, Dongjae Lee, Chiyun Noh et al.
· arXiv.org · 0 citations