ResearchBenchmarksRadar-Inertial Odometry on HeRCULES Sports Complex 01Follow6.922ATEOurs6.0278812.0631918.098524.13381Apr 3, 2026Evaluation ResultsMethodMethodLinksATERPEtRPErOursSensor Modality=RadarSensor Modality=Radar2026.046.9220.1490.392Fast-LIO2Sensor Modality=LiDARSensor Modality=LiDAR2026.0410.8840.1911.004PUA-RIOSensor Modality=RadarSensor Modality=Radar2026.0420.8160.2691.28EKFRIO-TCSensor Modality=RadarSensor Modality=Radar2026.0420.8480.2180.964Go-RIOSensor Modality=RadarSensor Modality=Radar2026.0429.2750.2331.19