Find a bottle or can with the radius you need. Put it on top of your wood near the corner and draw a line around the bottom with a pencil. Take your jigsaw and cut off the wood outside the line but don't cut too close to the line! Once you're done with this, it's likely that your cut will be slightly ragged. Wrap some sandpaper around a block of wood and sand until you're just touching the line. Try to keep the sanding block square to the edge being sanded. Go slowly, checking your work often.
If you have many corners to do, use the technique I've described to create a template out of 1/4" plywood (or something similar). Then use this template as a guide to cut the corners with your router.
If you have a stationary belt, disk, or oscillating spindle sander you could use it to do the sanding and be sure that you're getting a 90-degree edge.