ResearchBenchmarksRadar-Inertial Odometry on HeRCULES Street 01Follow2.556ATEOurs1.0972810.9436420.7930.63636Apr 3, 2026Evaluation ResultsMethodMethodLinksATERPEtRPErOursSensor Modality=RadarSensor Modality=Radar2026.042.5560.1040.139Fast-LIO2Sensor Modality=LiDARSensor Modality=LiDAR2026.043.7840.2980.273EKFRIO-TCSensor Modality=RadarSensor Modality=Radar2026.0424.6620.3180.272PUA-RIOSensor Modality=RadarSensor Modality=Radar2026.0439.0240.3711.184