River is available now! May River Be With You!

[Unsigned-Long]

River: A Tightly-coupled Radar-inertial Velocity Estimator

River is born to decouple the ego-velocity estimation from the ego-motion estimation for high-performance velocity
estimation (mapping-free), which provides body-frame velocity estimates that are:

• time-continuous, benefit from the B-spline-based state representation 💥.
• drift-free, through fusing the radial velocities of radar targets against the drift from inertial data 💥.
• robust, due to the proprioception of IMU and low-frequency measuring signals of radar 💪.

Welcome to issue us if any problem exists 😉!