ResearchBenchmarksRadar-Inertial Odometry on HeRCULES Library 01Follow1.555ATEOurs-10.2282469.30863148.8455228.38237Apr 3, 2026Evaluation ResultsMethodMethodLinksATERPE (Translation)RPE (Rotation)OursSensor Modality=RadarSensor Modality=Radar2026.041.5550.090.164Fast-LIO2Sensor Modality=LiDARSensor Modality=LiDAR2026.0410.3720.1420.48EKFRIO-TCSensor Modality=RadarSensor Modality=Radar2026.0417.4910.2390.255Go-RIOSensor Modality=RadarSensor Modality=Radar2026.0422.5141.0830.509PUA-RIOSensor Modality=RadarSensor Modality=Radar2026.04296.1361.8760.856