FMCW-LIO: A Doppler LiDAR-Inertial Odometry

arXiv:2609.29374 · cs.RO, cs.CV, cs.SY, eess.SY · Submitted 2026-09-24 · Read on arXiv

cs.RO, cs.CV, cs.SY, eess.SY

Submitted: 2026-09-24

Updated: 2026-09-25

Comments: IEEE Robotics and Automation Letters (RA-L), 2024. Project Page: https://github.com/IMRL/FMCW-LIO

Journal ref: M. Zhao et al., "FMCW-LIO: A Doppler LiDAR-Inertial Odometry," in IEEE Robotics and Automation Letters, vol. 9, no. 6, pp. 5727-5734, June 2024

DOI: 10.1109/LRA.2024.3396636

Code: https://github.com/IPNL-POLYU/UrbanNavDataset

Project page: https://www.boreas.utias.utoronto.ca/#/boreasRT

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

Accuracy — 13× in this paper · explained in 1 episode
Ablation — 3× in this paper · explained in 1 episode
Robustness — 3× in this paper · explained in 5 episodes
Clustering — 2× in this paper · explained in 2 episodes
Degeneracy — 2× in this paper · explained in 3 episodes
International Conference on Robotics and Automation — 2× in this paper
Ablation Studies — 1× in this paper · explained in 1 episode
Ablation study — 1× in this paper · explained in 1 episode
Alignment — 1× in this paper · explained in 1 episode
Calibration — 1× in this paper · explained in 7 episodes
Data Fusion — 1× in this paper · explained in 3 episodes
Frequency Modulated Continuous Wave — 1× in this paper
Global Navigation Satellite System — 1× in this paper
Iterated Error-State Extended Kalman Filter — 1× in this paper
LiDAR and Inertial Measurement Unit — 1× in this paper
Modular Architecture — 1× in this paper · explained in 4 episodes
Multi-Campus Dataset — 1× in this paper
Objective Function — 1× in this paper · explained in 2 episodes

Sources

Kalman Filters on Differentiable Manifolds

Terminology

Sources

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