{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/continuous-time-radar-inertial-and-lidar","title":"Continuous-Time Radar-Inertial and Lidar-Inertial Odometry using a Gaussian Process Motion Prior","arxiv_id":"2402.06174","date":"2024-02-09","proceeding":null,"authors":["Keenan Burnett","Angela P. Schoellig","Timothy D. Barfoot"],"abstract":"In this work, we demonstrate continuous-time radar-inertial and lidar-inertial odometry using a Gaussian process motion prior. Using a sparse prior, we demonstrate improved computational complexity during preintegration and interpolation. We use a white-noise-on-acceleration motion prior and treat the gyroscope as a direct measurement of the state while preintegrating accelerometer measurements to form relative velocity factors. Our odometry is implemented using sliding-window batch trajectory estimation. To our knowledge, our work is the first to demonstrate radar-inertial odometry with a spinning mechanical radar using both gyroscope and accelerometer measurements. We improve the performance of our radar odometry by \\change{43\\%} by incorporating an IMU. Our approach is efficient and we demonstrate real-time performance. Code for this paper can be found at: https://github.com/utiasASRL/steam_icp","url_abs":"https://arxiv.org/abs/2402.06174v2","url_pdf":"https://arxiv.org/pdf/2402.06174v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"continuous-time-radar-inertial-and-lidar","repo_url":"https://github.com/utiasasrl/steam_icp","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}