Single-session

Heterogeneous Radar Single-session PR

• For single-session evaluation, spinning radar data were used as the database and 4D radar data as queries across the Sports Complex, Library, and River Island sequences. As shown in Table I, SHeRLoc consistently outperforms all baselines, while the lightweight SHeRLoc-S also surpasses all SOTA methods. Furthermore, as illustrated in Fig. 5, SHeRLoc achieves robust performance even in challenging scenarios such as night, snow, and dynamic object-rich environments.