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This paper presents an approach to radar odometry on $SE(3)$ which utilizes aconstant acceleration motion prior. The motion prior is integrated into asliding window optimization scheme. We use the Magnus expansion to accuratelyintegrate the motion prior while maintaining real-time performance. Inaddition, we adopt a polar measurement model to better represent radardetection uncertainties. Our estimator is evaluated using a large real-worlddataset from a prototype high-resolution radar sensor. The new motion prior andmeasurement model signifcantly improve odometry performance relative to theconstant velocity motion prior and Cartesian measurement model from ourprevious work, particularly in roll, pitch and height.

Radar Odometry on SE(3) with Constant Acceleration Motion Prior and Polar Measurement Model