Some rough MATLAB scripts used when generating labels for RO failures as part of very early work that later become introspective Radar Odometry (RO).
📽️ A video from the final ITSC 2019 publication can be found here.
[1] R. Aldera, D. De Martini, M. Gadd, and P. Newman, “What could go wrong? Introspective radar odometry in challenging environments,” in 2019 IEEE Intelligent Transportation Systems Conference (ITSC), 2019, pp. 2835–2842.