SOURCE-LINKED INTELLIGENCE

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

arXiv · AI, language, vision and robotics · article · Sep 3, 2026 · UTC

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 degeneracy-aware Doppler reweighting modules within a tightly coupled Radar-IMU-LiDAR odometry framework: per-point radar reweighting and scan-wise radar gain scheduling. Since geometric degeneracy is directional, we first identify weak translational directions from the LiDAR geom

Read original source ↗ Open in workspace

recordType

paper

region

Global