ResearchBenchmarksRadar Odometry and Mapping on ColoRadar (Seq. outdoors/0)Follow0.71ATE RMSE (m)RAMBA0.68920.82960.971.1104May 24, 2026Evaluation ResultsMethodMethodLinksATE RMSE (m)Rotation RPE RMSE (deg)Chamfer-L1 (cm)RAMBAOuter Iterations=6Outer Iterations=62026.050.711.2322.3RAMBAOuter Iterations=4Outer Iterations=42026.050.751.2522.4RAMBAOuter Iterations=2Outer Iterations=22026.050.791.1822.7PGOConfiguration=pose gra...Configuration=pose graph optimization2026.050.855.6623.2RIOConfiguration=initial...Configuration=initial radar–inertial odometry2026.051.235.8125.8