Radar offers the advantage of providing additional physical properties related to observed objects. In this study, we design a physical-enhanced radar-inertial odometry system that capitalizes on the Doppler velocities and radar cross-section information. The filter for static radar points, correspondence estimation, and residual functions are all strengthened by integrating the physical properties. We conduct experiments on both public datasets and our self-collected data, with different mobile platforms and sensor types. Our quantitative results demonstrate that the proposed radar-inertial odometry system outperforms alternative methods using the physical-enhanced components. Our findings also reveal that using the physical properties results in fewer radar points for odometry estimation, but the performance is still guaranteed and even improved, thus aligning with the ``less is more'' principle.

翻译：雷达的优势在于能提供与被观测物体相关的额外物理属性。本研究设计了一种物理增强的雷达-惯性里程计系统，充分利用了多普勒速度和雷达散射截面信息。静态雷达点滤波、对应关系估计以及残差函数均通过融合物理属性得到强化。我们在公开数据集和自采数据上开展了实验，涉及不同移动平台与传感器类型。定量结果表明，所提出的雷达-惯性里程计系统在使用物理增强组件后优于其他方法。研究还发现，利用物理属性虽减少了用于里程计估计的雷达点数量，但性能仍得到保障甚至有所提升，这正契合了“少即是多”的原则。