4D Radar Odometry on NTU4DRadLM 0.25km (Cp)
0.0206RPE translation (m)Gaussian (ours)
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Gaussian (ours)IMU=True, EV=True, SM=True, Time=19.17, K=82024.12 | 0.0206 | — | — | 0.0266 | |
| Gaussian (ours)IMU=True, EV=True, SM=True, Time=5.29, K=12024.12 | 0.0226 | — | — | 0.0339 | |
| Gaussian (ours)IMU=True, EV=True, SM=True, Time=433.52, K=1282024.12 | 0.0231 | — | — | 0.0339 | |
| NDT baselineIMU=True, EV=True, SM=True, Time=12.612024.12 | 0.0242 | — | — | 0.0345 | |
| VGICP baselineIMU=True, EV=True, SM=True, Time=6.792024.12 | 0.0243 | — | — | 0.0362 | |
| RIV-SLAM*IMU=True, EV=True, SM=True2024.12 | 0.0258 | — | — | 0.0342 | |
| GICP baselineIMU=True, EV=True, SM=True, Time=12.332024.12 | 0.0293 | — | — | 0.0428 | |
| NTU4DRadLM baseline: Fast-LIO*IMU=True, EV=False, SM=True2024.12 | 0.0294 | — | — | 0.0468 | |
| 4DRadarSLAM: APDGICP*IMU=False, EV=True, SM=True2024.12 | 0.0356 | — | — | 0.0369 | |
| NTU4DRadLM baseline: GICP*IMU=False, EV=True, SM=True2024.12 | 0.0413 | — | — | 0.0552 | |
| EFEAR-4D*IMU=False, EV=True, SM=True2024.12 | 0.0509 | — | — | 0.0125 | |
| EKF-RIOIMU=True, EV=True, SM=False2024.12 | 0.1476 | — | — | 0.3955 | |
| GICP2025.12 | 0.192 | 1.184 | 2.256 | — | |
| APDGICP2025.12 | 0.216 | 1.241 | 2.408 | — | |
| NDT2025.12 | 0.223 | 1.368 | 3.294 | — | |
| Super4DR2025.12 | 0.248 | 1.121 | 1.749 | — | |
| CAO-RONet2025.12 | 0.342 | 2.471 | 15.557 | — | |
| ICP2025.12 | 0.543 | 1.274 | 3.639 | — | |
| RaFlow2025.12 | 1.31 | 9.367 | 44.228 | — |