ResearchBenchmarksRadar Odometry and Mapping on SNAIL Radar (Seq. 20231105 4)Follow5.94ATE RMSE (m)RAMBA5.33289.431413.5317.6286May 24, 2026Evaluation ResultsMethodMethodLinksATE RMSE (m)Rotation RPE RMSE (deg)Chamfer-L1 (cm)RAMBAOuter Iterations=6Outer Iterations=62026.055.946.4639.8RAMBAOuter Iterations=4Outer Iterations=42026.056.116.4139.4RAMBAOuter Iterations=2Outer Iterations=22026.056.296.2840PGOConfiguration=pose gra...Configuration=pose graph optimization2026.056.427.2339.5RIOConfiguration=initial...Configuration=initial radar–inertial odometry2026.0521.126.2440.3