Direct radar odometry that uses all radar intensity information, continuous-time motion and Doppler distortion correction, and an optional Doppler-based velocity constraint outperforms point-based radar odometry on driving and off-road benchmarks.
Barfoot, Chi Hay Tong, and Simo S¨arkk¨a
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DRO: Doppler-Aware Direct Radar Odometry
Direct radar odometry that uses all radar intensity information, continuous-time motion and Doppler distortion correction, and an optional Doppler-based velocity constraint outperforms point-based radar odometry on driving and off-road benchmarks.