T. Tuna

TRaIL-Odom: Tightly Coupled Continuous Time Radar-IMU-LiDAR Odometry With Adaptive Doppler Weighting

Existing radar-LiDAR fusion methods rely on fixed residual weights, even though the informativeness of radar Doppler and LiDAR geometry is scan- and direction-dependent, leading to uniform radar weighting that misallocates Doppler information across translational directions. To address this limitation, we propose two d...