Text this: A 4D imaging radar SLAM system for large-scale environments based on pose graph optimization

  _____     _____              _    _    __   _   
 / ____||  |  ___||     ___   | || | || | || | || 
/ //---`'  | ||__      /   || | || | || | '--' || 
\ \\___    | ||__     | [] || | \\_/ || | .--. || 
 \_____||  |_____||    \__ ||  \____//  |_|| |_|| 
  `----`   `-----`      -|_||   `---`   `-`  `-`  
                         `-`