RAGNAROK: Radar-Aided Gravity-Normalized Alignment for Robust Open Keyframe-based Radar-Visual-Kinematic-Inertial SLAM
RAGNAROK is a novel radar-visual-kinematic-inertial SLAM system designed for challenging environments. It integrates slip/rolling contact awareness, kinematics-aware radar factors, and degradation-aware image enhancement to achieve robust performance. The system fuses proprioceptive and exteroceptive estimates using a continuous-time backbone to maintain accurate state estimation despite perceptual issues.