Preprint Open access
RAGNAROK: Radar-Aided Gravity-Normalized Alignment for Robust Open Keyframe-based Radar-Visual-Kinematic-Inertial SLAM
Legged robots offer superior mobility in unstructured environments, but reliable operation in such conditions requires robust state estimation. To address the vulnerability of proprioceptive estimators in rough terrain, recent methods have incorporated radar to provide velocity measurements. However, their limited yaw …