RAGNAROK: Radar-Aided Gravity-Normalized Alignment for Robust Open Keyframe-based Radar-Visual-Kinematic-Inertial SLAM
RAGNAROK: Radar-Aided Gravity-Normalized Alignment for Robust Open Keyframe-based Radar-Visual-Kinematic-Inertial SLAM
This research presents RAGNAROK, the first radar-visual-kinematic-inertial SLAM system designed for robust operation in challenging environments. It integrates slip- and rolling-contact-aware leg velocity estimation, a kinematics-aware radar factor, and degradation-aware image enhancement. The system also includes a B-spline-based radar-aided proprioceptive backbone and adaptive weighting, with extensive experiments showing improved performance over existing baselines.
Source: arXiv Robotics — research abstracts · Read original article ↗
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- code: Available Artifact link Open source S4
- dataset: Available Artifact link Open source S4
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, adaptive weighting, and online extrinsic calibration. Extensive experiments on public and self-collected datasets demonstrate that RAGNAROK achieves robust performance under challenging conditions and outperforms state-of-the-art baselines. The source code and dataset are available at https://github.com/hanjun815/RAGNAROK.
Open source S4
Source：arXiv Robotics — research abstracts · arxiv.org