Radar odometry has been gaining attention in the last decade. It stands as one of the best solutions for robotic state estimation in unfavorable conditions; conditions where other interoceptive and exteroceptive sensors may fall short. Radars are widely adopted, resilient to weather and illumination, and provide Doppler information which make them very attractive for such tasks. This article presents an extensive survey of the latest work on ground-based radar odometry for autonomous robots. It covers technologies, datasets, metrics, and approaches that have been developed in the last decade in addition to in-depth analysis and categorization of the various methods and techniques applied to tackle this problem. This article concludes with challenges and future recommendations to advance the field of radar odometry making it a great starting point for newcomers and a valuable reference for experienced researchers.

翻译：雷达里程计在过去十年中逐渐受到关注。它是在不利条件下——即其他内感受与外感受传感器可能表现不佳的环境中——进行机器人状态估计的最佳解决方案之一。雷达被广泛采用，对环境天气和光照具有鲁棒性，并能提供多普勒信息，这使得它们在此类任务中极具吸引力。本文对自主机器人地面雷达里程计的最新工作进行了全面综述。内容涵盖了过去十年中发展的技术、数据集、评估指标和方法，并对用于解决该问题的各种技术和方法进行了深入分析与分类。本文最后提出了该领域面临的挑战与未来建议，为初学者提供了绝佳的起点，也为经验丰富的研究者提供了宝贵的参考。