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A tightly coupled 4D radar inertial odometry via smoothing and mapping framework in C++ (Open Source) to address localization challenges in adverse weather conditions and dynamic scenes where traditional vision and LIDAR-based systems fail.
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minor modification to dataset player and rviz config to make the demo pretty
3c91e2cView on GitHubmigrated IMU-preintegration stuff to original scan_matching node
fc4cc6aView on GitHub