EKF-Based Radar-Inertial Odometry with Online Temporal Calibration (EKF-RIO-TC)

This repository contains the implementation of EKF-Based Radar-Inertial Odometry with Online Temporal Calibration (EKF-RIO-TC). The corresponding paper is currently under review.

The code will be made publicly available after the review process is complete.

Experimental Setup

The experimental setup includes the following components:

• Radar: Texas Instruments AWR1843BOOST.
• IMU: Xsens MTI-670-DK.
• Ground Truth: Provided using an OptiTrack motion capture system.

Datasets

• Self-collected Dataset
  The self-collected dataset consists of a total of 7 sequences, including data from radar, IMU, and ground truth provided by an OptiTrack motion capture system.

  • Sequence 1–3: Contain minimal rotational motion.
  • Sequence 4–7: Contain significant rotational motion.

  It is available at Dataset.

• Open Datasets
  Two publicly available datasets were used for testing:

  • ICINS2021 Dataset
  • ColoRadar Dataset

Black: Ground truth, Blue: EKF-RIO, Red: EKF-RIO-TC (proposed).

References

Contact

Acknowledgement

• This work builds upon the implementation of EKF-RIO.
• The trajectory evaluation in this project was conducted using the evo tool.

License

• GPLv3 License.