# Uncertainty-Driven Radar-Inertial Fusion for Instantaneous 3D Ego-Velocity Estimation

arXiv: https://arxiv.org/abs/2506.14294 · HTML: https://mlsanity.com/paper/2506.14294/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 17 of its 40 references that are in the map.
- First posted on arXiv 17 Jun 2025.

## Builds on (most cited first, 17 of 17)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?](https://mlsanity.com/paper/1703.04977/) (2017)
- [Direct Sparse Odometry](https://mlsanity.com/paper/1607.02565/) (2016)
- [LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping](https://mlsanity.com/paper/2007.00258/) (2020)
- [On the Pitfalls of Heteroscedastic Uncertainty Estimation with Probabilistic Neural Networks](https://mlsanity.com/paper/2203.09168/) (2022)
- [ColoRadar: The Direct 3D Millimeter Wave Radar Dataset](https://mlsanity.com/paper/2103.04510/) (2021)
- [Under the Radar: Learning to Predict Robust Keypoints for Odometry Estimation and Metric Localisation in Radar](https://mlsanity.com/paper/2001.10789/) (2020)
- [4DRVO-Net: Deep 4D Radar-Visual Odometry Using Multi-Modal and Multi-Scale Adaptive Fusion](https://mlsanity.com/paper/2308.06573/) (2023)
- [Radars for Autonomous Driving: A Review of Deep Learning Methods and Challenges](https://mlsanity.com/paper/2306.09304/) (2023)
- [Lidar-level localization with radar? The CFEAR approach to accurate, fast and robust large-scale radar odometry in diverse environments](https://mlsanity.com/paper/2211.02445/) (2022)
- [Complex-valued Convolutional Neural Networks for Enhanced Radar Signal Denoising and Interference Mitigation](https://mlsanity.com/paper/2105.00929/) (2021)
- [TBV Radar SLAM -- trust but verify loop candidates](https://mlsanity.com/paper/2301.04397/) (2023)
- [Radar Odometry for Autonomous Ground Vehicles: A Survey of Methods and Datasets](https://mlsanity.com/paper/2307.07861/) (2023)
- [Leveraging Heteroscedastic Uncertainty in Learning Complex Spectral Mapping for Single-channel Speech Enhancement](https://mlsanity.com/paper/2211.08624/) (2022)
- [DeRO: Dead Reckoning Based on Radar Odometry With Accelerometers Aided for Robot Localization](https://mlsanity.com/paper/2403.05136/) (2024)

## Abstract (arXiv)

We present a method for estimating ego-velocity in autonomous navigation by integrating high-resolution imaging radar with an inertial measurement unit. The proposed approach addresses the limitations of traditional radar-based ego-motion estimation techniques by employing a neural network to process complex-valued raw radar data and estimate instantaneous linear ego-velocity along with its associated uncertainty. This uncertainty-aware velocity estimate is then integrated with inertial measurement unit data using an Extended Kalman Filter. The filter leverages the network-predicted uncertainty to refine the inertial sensor's noise and bias parameters, improving the overall robustness and accuracy of the ego-motion estimation. We evaluated the proposed method on the publicly available ColoRadar dataset. Our approach achieves significantly lower error compared to the closest publicly available method and also outperforms both instantaneous and scan matching-based techniques.