4D iRIOM: 4D imaging radar inertial odometry and mapping

We presented a 4D radar inertial odometry and mapping method for motion estimation and mapping in 3D space.
Based on an iterative extended Kalman filter, the method recursively fuses IMU observations, radar single-scan velocity estimation, and correspondences (as distribution to multi-distribution constraints) from scan-to-submap matching, for odometry estimation.
The backend uses a ScanContext based radar loop detector and pose graph optimization to generate the consistent map.

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Thank you for your great research! Could you please release the code and dataset?