{"id":"https://openalex.org/W7162451741","doi":"https://doi.org/10.48550/arxiv.2605.25041","title":"RAMBA: 4D Radar Mapping by Bundle Adjustment","display_name":"RAMBA: 4D Radar Mapping by Bundle Adjustment","publication_year":2026,"publication_date":"2026-05-24","ids":{"openalex":"https://openalex.org/W7162451741","doi":"https://doi.org/10.48550/arxiv.2605.25041"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.25041","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.25041","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.25041","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031388075","display_name":"Jianzhu Huai","orcid":"https://orcid.org/0000-0003-0950-3889"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huai, Jianzhu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137020113","display_name":"Yiwen Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yiwen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5102783480","display_name":"Binliang Wang","orcid":"https://orcid.org/0000-0001-7738-9702"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Binliang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9595999717712402,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9595999717712402,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11038","display_name":"Advanced SAR Imaging Techniques","score":0.008899999782443047,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.00430000014603138,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.6381999850273132},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.47690001130104065},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4377000033855438},{"id":"https://openalex.org/keywords/radar-tracker","display_name":"Radar tracker","score":0.4271000027656555},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.4239000082015991},{"id":"https://openalex.org/keywords/bistatic-radar","display_name":"Bistatic radar","score":0.4106000065803528},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.3928999900817871},{"id":"https://openalex.org/keywords/radar-engineering-details","display_name":"Radar engineering details","score":0.3774999976158142}],"concepts":[{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.6381999850273132},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5946999788284302},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.586899995803833},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5843999981880188},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.47690001130104065},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4377000033855438},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.43369999527931213},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.4271000027656555},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.4239000082015991},{"id":"https://openalex.org/C100102862","wikidata":"https://www.wikidata.org/wiki/Q2625855","display_name":"Bistatic radar","level":4,"score":0.4106000065803528},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3928999900817871},{"id":"https://openalex.org/C134406370","wikidata":"https://www.wikidata.org/wiki/Q832005","display_name":"Radar engineering details","level":4,"score":0.3774999976158142},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.3732999861240387},{"id":"https://openalex.org/C185565061","wikidata":"https://www.wikidata.org/wiki/Q6878284","display_name":"Radar lock-on","level":5,"score":0.36550000309944153},{"id":"https://openalex.org/C81076408","wikidata":"https://www.wikidata.org/wiki/Q229387","display_name":"3D radar","level":5,"score":0.3646000027656555},{"id":"https://openalex.org/C59584813","wikidata":"https://www.wikidata.org/wiki/Q1029234","display_name":"Continuous-wave radar","level":4,"score":0.3418999910354614},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.3276999890804291},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.2648000121116638},{"id":"https://openalex.org/C2778559676","wikidata":"https://www.wikidata.org/wiki/Q1334213","display_name":"Doppler radar","level":3,"score":0.2621999979019165},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.25949999690055847},{"id":"https://openalex.org/C87360688","wikidata":"https://www.wikidata.org/wiki/Q740686","display_name":"Synthetic aperture radar","level":2,"score":0.2538999915122986}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.25041","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.25041","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.25041","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.25041","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"4D":[0,43,58],"radar":[1,26,44,52,59,65,75,86],"is":[2],"increasingly":[3],"attractive":[4],"for":[5,42,55],"robotic":[6],"mapping":[7],"because":[8],"it":[9],"provides":[10],"range,":[11],"azimuth,":[12],"elevation,":[13],"and":[14,27,64,85,106,118,136,146,154],"Doppler":[15],"measurements":[16],"while":[17,127],"remaining":[18],"robust":[19],"in":[20],"adverse":[21],"visibility":[22],"conditions.":[23],"Although":[24],"recent":[25],"radar--inertial":[28,69,152],"odometry":[29,70,153],"methods":[30],"have":[31],"achieved":[32],"promising":[33],"online":[34],"state":[35],"estimation":[36],"performance,":[37],"offline":[38],"global":[39],"map":[40,144],"refinement":[41],"remains":[45],"underexplored.":[46],"This":[47],"paper":[48],"presents":[49],"RAMBA,":[50],"a":[51,68,96],"bundle-adjustment":[53],"framework":[54],"globally":[56],"consistent":[57],"mapping.":[60],"Given":[61],"initial":[62],"poses":[63],"frames":[66,105],"from":[67],"front-end,":[71],"RAMBA":[72,120,142],"jointly":[73],"refines":[74],"frame":[76],"states":[77],"using":[78],"covariance-weighted":[79],"geometric":[80,90],"residuals,":[81],"IMU":[82],"preintegration":[83],"factors,":[84],"ego-velocity":[87],"constraints.":[88,131],"The":[89],"residuals":[91],"extend":[92],"pairwise":[93],"GICP":[94],"to":[95],"multi-frame":[97],"optimization":[98,156],"by":[99],"forming":[100],"voxel-based":[101],"correspondences":[102],"across":[103],"selected":[104],"weighting":[107],"each":[108],"residual":[109],"with":[110],"point":[111],"covariances.":[112],"To":[113],"improve":[114],"robustness":[115],"against":[116],"drift":[117],"revisits,":[119],"enforces":[121],"temporal":[122],"consistency":[123,145],"during":[124],"correspondence":[125],"formation":[126],"explicitly":[128],"supporting":[129],"loop-closure":[130],"Experiments":[132],"on":[133],"the":[134],"ColoRadar":[135],"SNAIL":[137],"Radar":[138],"datasets":[139],"show":[140],"that":[141],"improves":[143],"usually":[147],"enhances":[148],"trajectory":[149],"accuracy":[150],"over":[151],"pose-graph":[155],"baselines.":[157]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-27T00:00:00"}