ResearchBenchmarksRadar Odometry and Mapping on SNAIL Radar Seq. 20231105 6Follow0.9ATE RMSE (m)RAMBA0.7241.9123.14.288May 24, 2026Evaluation ResultsMethodMethodLinksATE RMSE (m)Rotation RPE RMSE (deg)Chamfer-L1 (cm)RAMBAOuter Iterations=6Outer Iterations=62026.050.93.2927.4RAMBAOuter Iterations=4Outer Iterations=42026.051.153.4628.4RAMBAOuter Iterations=2Outer Iterations=22026.051.53.6330.1PGOConfiguration=pose gra...Configuration=pose graph optimization2026.051.933.8232.5RIOConfiguration=initial...Configuration=initial radar–inertial odometry2026.055.37.6938.4