4D Radar Odometry on NTU4DRadLM 4.79km (Loop2)
2.26RPE Translation (%)Gaussian (ours)
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Gaussian (ours)IMU=True, EV=True, SM=True, Time=5.29, K=12024.12 | 2.26 | — | — | — | 0.0034 | |
| Gaussian (ours)IMU=True, EV=True, SM=True, Time=19.17, K=82024.12 | 2.62 | — | — | — | 0.0039 | |
| Gaussian (ours)IMU=True, EV=True, SM=True, Time=433.52, K=1282024.12 | 2.67 | — | — | — | 0.0042 | |
| RIV-SLAM*IMU=True, EV=True, SM=True2024.12 | 2.69 | — | — | — | 0.0456 | |
| VGICP baselineIMU=True, EV=True, SM=True, Time=6.792024.12 | 2.73 | — | — | — | 0.0036 | |
| GICP baselineIMU=True, EV=True, SM=True, Time=12.332024.12 | 2.99 | — | — | — | 0.0038 | |
| NTU4DRadLM baseline: GICP*IMU=False, EV=True, SM=True2024.12 | 4.84 | — | — | — | 0.006 | |
| NDT baselineIMU=True, EV=True, SM=True, Time=12.612024.12 | 5.61 | — | — | — | 0.0065 | |
| 4DRadarSLAM: APDGICP*IMU=False, EV=True, SM=True2024.12 | 6.09 | — | — | — | 0.0082 | |
| NTU4DRadLM baseline: Fast-LIO*IMU=True, EV=False, SM=True2024.12 | 7.16 | — | — | — | 0.0057 | |
| EFEAR-4D*IMU=False, EV=True, SM=True2024.12 | 37.27 | — | — | — | 0.0152 | |
| EKF-RIOIMU=True, EV=True, SM=False2024.12 | 44.31 | — | — | — | 0.0349 | |
| APDGICP2025.12 | — | 2.459 | 2.616 | 145.674 | — | |
| CAO-RONet2025.12 | — | 1.504 | 4.215 | 265.864 | — | |
| FAST-LIO22026.06 | — | — | — | 11.376 | — | |
| FAST-LIVO2026.06 | — | — | — | 12.496 | — | |
| FAST-LIVO22026.06 | — | — | — | 11.885 | — | |
| GICP2025.12 | — | 2.448 | 2.517 | 58.155 | — | |
| ICP2025.12 | — | 12.357 | 8.003 | 613.073 | — | |
| NDT2025.12 | — | 3.406 | 5.775 | 652.073 | — | |
| PL-LIT2026.06 | — | — | — | 8.301 | — | |
| R3LIVE2026.06 | — | — | — | 13.639 | — | |
| Super4DR2025.12 | — | 1.521 | 2.448 | 38.876 | — |