A curated collection of high-quality resources, papers, and tools dedicated to Automotive Radar SLAM (Simultaneous Localization and Mapping) and odometry. This repository is designed to assist researchers and engineers in discovering leading materials for radar-based localization, mapping, and sensor fusion in autonomous vehicles. While many SLAM methods exist for Navtech spinning radar, this list specifically highlights Fast chirp FMCW automotive radar SLAM and odometry—a fast-growing area with significant recent advancements.
The repository is continuously updated as new research and tools emerge ... Feel free to suggest additions !!!
- Overview
- Radar Only
- Radar Inertial Fusion
- Radar and Other Sensors Fusion
- Radar Tensors
- Related Surveys
- Contributing
- License
Automotive radar is robust to adverse weather and lighting, making it a key sensor for autonomous vehicles. Radar SLAM and odometry enable accurate localization and mapping using radar data, often in combination with other sensors. This list covers:
- Pure radar-based SLAM and odometry
- Radar-inertial fusion
- Multi-sensor fusion (radar, lidar, camera, GNSS, etc.)
- Non-pointcloud data representations (tensors etc.)
Papers focused on radar-only SLAM and odometry.
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2025 - 4D RadarPR: Context-Aware 4D Radar Place Recognition in harsh scenarios
ISPRS JP&RS[Paper] -
2025 - DNOI-4DRO: Deep 4D Radar Odometry with Differentiable Neural-Optimization Iterations
Arxiv Preprint[Paper] -
2025 - CAO-RONet: A Robust 4D Radar Odometry with Exploring More Information from Low-Quality Points
ICRA[Paper][code] -
2025 - Ground-Aware Automotive Radar Odometry
ICRA[Paper] -
2024 - Radar4Motion: IMU-Free 4D Radar Odometry with Robust Dynamic Filtering and RCS-Weighted Matching
T-IV[Paper][code] -
2024 - Radar-Only Odometry and Mapping for Autonomous Vehicles
ICRA[Paper] -
2024 - Doppler-only Single-scan 3D Vehicle Odometry
ICRA[Paper][code] -
2024 - EFEAR-4D: Ego-Velocity Filtering for Efficient and Accurate 4D radar Odometry
RA-L[Paper] -
2023 - 4D Radar-Based Pose Graph SLAM With Ego-Velocity Pre-Integration Factor
RA-L[Paper] -
2023 - Radar Odometry on SE(3) with Constant Acceleration Motion Prior and Polar Measurement Model
IROS[Paper] -
2023 - Self-supervised 4-D Radar Odometry for Autonomous Vehicles
ITSC[Paper] -
2022 - A Credible and Robust Approach to Ego-Motion Estimation Using an Automotive Radar
RA-L[Paper] -
2022 - DC-Loc: Accurate Automotive Radar Based Metric Localization with Explicit Doppler Compensation
ICRA[Paper] -
2017 - Increasing FastSLAM accuracy for radar data by integrating the Doppler information
ICMIM[Paper]
Combining radar with inertial sensors (IMU) for improved localization.
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2025 - S3E: Self-Supervised State Estimation for Radar-Inertial System
ICCV[Paper] -
2025 - RaI-SLAM: Radar-Inertial SLAM for Autonomous Vehicles
RA-L[Paper] -
2025 - Learning Point Correspondences In Radar 3D Point Clouds For Radar-Inertial Odometry
IROS[Paper] -
2025 - VGC-RIO: A Tightly Integrated Radar-Inertial Odometry with Spatial Weighted Doppler Velocity and Local Geometric Constrained RCS Histograms
Arxiv Preprint[Paper] -
2025 - Doppler-SLAM: Doppler-Aided Radar-Inertial and LiDAR-Inertial Simultaneous Localization and Mapping
RA-L[Paper][dataset] -
2025 - Impact of Temporal Delay on Radar-Inertial Odometry
Arxiv Preprint[Paper][code] -
2025 - Go-RIO: Ground-Optimized 4D Radar-Inertial Odometry via Continuous Velocity Integration using Gaussian Process
ICRA[Paper][code] -
2025 - EKF-Based Radar-Inertial Odometry with Online Temporal Calibration
RA-L[Paper] -
2024 - 4D Radar-Inertial Odometry based on Gaussian Modeling and Multi-Hypothesis Scan Matching
Arxiv Preprint[Paper][code] -
2024 - Loosely coupled 4D-Radar-Inertial Odometry for Ground Robots
Arxiv Preprint[Paper][code] -
2024 - Tightly-Coupled Factor Graph Formulation For Radar-Inertial Odometry
IROS[Paper] -
2024 - Co-RaL: Complementary Radar-Leg Odometry with 4-DoF Optimization and Rolling Contact
IROS[Paper][dataset] -
2024 - CREVE: An Acceleration-based Constraint Approach for Robust Radar Ego-Velocity Estimation
Arxiv Preprint[Paper] -
2024 - RIV-SLAM: Radar-Inertial-Velocity optimization based graph SLAM
CASE[Paper][code] -
2024 - River: A Tightly-Coupled Radar-Inertial Velocity Estimator Based on Continuous-Time Optimization
RA-L[Paper] -
2024 - Robust Radar Inertial Odometry in Dynamic 3D Environments
Drones[Paper] -
2024 - Radar-Based Localization For Autonomous Ground Vehicles In Suburban Neighborhoods
T-FR[Paper] -
2024 - Towards introspective loop closure in 4D radar SLAM
Arxiv Preprint[Paper] -
2024 - Incorporating Point Uncertainty in Radar SLAM
RA-L[Paper] -
2024 - Less is More: Physical-enhanced Radar-Inertial Odometry
ICRA[Paper][code] -
2023 - Radar-Inertial Odometry for Closed-Loop Control of Resource-Constrained Aerial Platforms
SSRR[Paper] -
2023 - DRIO: Robust Radar-Inertial Odometry in Dynamic Environments
RA-L[Paper] -
2023 - Multi-State Tightly-Coupled EKF-Based Radar-Inertial Odometry With Persistent Landmarks
ICRA[Paper] -
2023 - 4D iRIOM: 4D Imaging Radar Inertial Odometry and Mapping
RA-L[Paper] -
2022 - x-RIO: Radar Inertial Odometry with Multiple Radar Sensors and Yaw Aiding
Gyroscopy and Navigation[Paper][code] -
2022 - Tightly-Coupled EKF-Based Radar-Inertial Odometry
IROS[Paper] -
2022 - Radar-Inertial State-Estimation for UAV Motion in Highly Agile Manoeuvres
ICUAS[Paper] -
2021 - Continuous-time Radar-inertial Odometry for Automotive Radars
IROS[Paper] -
2021 - Yaw aided Radar Inertial Odometry using Manhattan World Assumptions
ICINS[Paper][code] -
2021 - Milli-RIO: Ego-Motion Estimation With Low-Cost Millimetre-Wave Radar
Sensors[Paper] -
2021 - Radar-Inertial State Estimation and Obstacle Detection for Micro-Aerial Vehicles in Dense Fog
SPAR[Paper] -
2020 - Radar Inertial Odometry With Online Calibration
ENC[Paper][code] -
2020 - An EKF Based Approach to Radar Inertial Odometry
MFI[Paper][code] -
2020 - Radar-Inertial Ego-Velocity Estimation for Visually Degraded Environments
ICRA[Paper] -
2019 - Environment Mapping and Vehicle Localization with a High-Resolution Radar Prototype
FAST-zero[Paper] -
2017 - Real-Time Radar SLAM
uni-das[Paper] -
2016 - Landmark based Radar SLAM Using Graph Optimization
ITSC[Paper]
Fusion of radar with lidar, camera, GNSS, and other sensors.
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2025 - SNAIL Radar: A large-scale diverse benchmark for evaluating 4D-radar-based SLAM
IJRR[Paper] [dataset] -
2025 - CRADMap: Applied Distributed Volumetric Mapping with 5G-Connected Multi-Robots and 4D Radar Perception
ICARM[Paper] [code] -
2025 - GV-iRIOM: GNSS-visual-aided 4D radar inertial odometry and mapping in large-scale environments
P&RS[Paper] -
2025 - GaRLIO: Gravity enhanced Radar-LiDAR-Inertial Odometry
ICRA[Paper][code] -
2024 - A robust baro-radar-inertial odometry m-estimator for multicopter navigation in cities and forests
MFI[Paper] -
2024 - Degradation Resilient LiDAR-Radar-Inertial Odometry
ICRA[Paper] -
2024 - DeRO: Dead Reckoning Based on Radar Odometry With Accelerometers Aided for Robot Localization
IROS[Paper][code] -
2024 - Adaptive Visual-Aided 4D Radar Odometry Through Transformer-Based Feature Fusion
IROS[Paper] -
2024 - 4DRVO-Net: Deep 4D Radar–Visual Odometry Using Multi-Modal and Multi-Scale Adaptive Fusion
T-IV[Paper] -
2024 - DGRO: Doppler Velocity and Gyroscope-Aided Radar Odometry
Sensors[Paper] -
2023 - 4D Radar/IMU/GNSS Integrated Positioning and Mapping For Large-Scale Environments
P&RS[Paper] -
2023 - Infradar-Localization: single-chip infrared- and radar-based Monte Carlo localization
CASE[Paper] -
2023 - 4DRadarSLAM: A 4D Imaging Radar SLAM System for Large-scale Environments based on Pose Graph Optimization
ICRA[Paper][code] -
2022 - GNSS aided Radar Inertial Odometry for UAS Flights in Challenging Conditions
AERO[Paper][code] -
2019 - Real-Time Pose Graph SLAM based on Radar
IV[Paper] -
2017 - Joint graph optimization towards crowd based mapping
ITSC[Paper] -
2016 - Robust Localization based on Radar Signal Clustering
IV[Paper]
Radar tensors based methods.
- 2024 - Radarize: Enhancing Radar SLAM with Generalizable Doppler-Based Odometry
MOBISYS[Paper][code]
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2025 - Exploring Radar Data Representations in Autonomous Driving: A Comprehensive Review
T-ITS[Paper] -
2024 - 4D mmWave Radar for Autonomous Driving Perception: A Comprehensive Survey
T-IV[Paper] -
2024 - 4D Millimeter-Wave Radar in Autonomous Driving: A Survey
Arxiv Preprint[Paper]
Contributions are always welcome! Please open an issue or pull request to add new resources, fix errors, or suggest improvements.