ResearchBenchmarksRadar Odometry and Mapping on SNAIL Radar (Seq. 20231208/1)Follow0.35ATE RMSE (m)RAMBA0.01442.27974.5456.8103May 24, 2026Evaluation ResultsMethodMethodLinksATE RMSE (m)Rotation RPE RMSE (deg)Chamfer-L1 (cm)RAMBAOuter Iterations=2Outer Iterations=22026.050.351.6832.2RAMBAOuter Iterations=4Outer Iterations=42026.050.391.5232.2RAMBAOuter Iterations=6Outer Iterations=62026.050.461.5132.7PGOConfiguration=pose gra...Configuration=pose graph optimization2026.050.594.2535.3RIOConfiguration=initial...Configuration=initial radar–inertial odometry2026.058.747.4532.9