Multi-radar inertial odometry

This is an unofficial implementaion of the paper "Multi-Radar Inertial Odometry for 3D State Estimation using mmWave Imaging Radar" tested with two 4d automotive radars.

demo video

Dependency

• ROS (tested with melodic)
• gtsam
• Ceres solver
• PCL

Install

cd ~/catkin_ws/src
git clone git@github.com:jerry8137/multi-radar-inertial-odometry.git
cd ..
catkin_make

Run

source devel/setup.bash
roslaunch radar_odometry radar_odometry_offline_test.launch

Acknowledgement

• The implementation of radar_odometry is modified from LIO-SAM.