Adaptive Lidar-Inertial Odometry

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14 papers3 papers in the last four weeks, against 1 the four weeks before. 0.0% of all new papers.

  1. Learning Wheel Motion Uncertainty for Degeneracy-Aware LiDAR-Inertial Odometry on Quadrupedal Wheel-Legged Robots

    Oct 19, 2026Hairuo Wei, Yunfan Ren, Renda Yang +2LiDAR OdometryAdaptive Lidar-Inertial Odometry

    The Chinese University of Hong Kong, Hong Kong SAR, China. · Tongji University, Shanghai, China. · SEER Robotics.

  2. F-LIVO: A Feature-Level Geometric Measurement Framework for LiDAR-Inertial-Visual Odometry

    Oct 16, 2026Xinye Dai, Yapeng Wang, Shujie Zhou +6Camera-LiDAR FusionAdaptive Lidar-Inertial Odometry

    The authors are with the GNSS Center, Wuhan University, Wuhan 430079, China.

  3. GR-LIO: A Local Ground-Aware LiDAR-Inertial Odometry System Using Body-to-Ground Height

    Oct 4, 2026Zhixin Zhang, Yang Song, Liang Zhao +3LiDAR OdometryRobot State Estimation

    Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, U.K. · School of Informatics, University of Edinburgh, Edinburgh EH8 9AB, U.K. · Department of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester M13 9PL, U.K.

  4. NM-LIO: Multiple LiDAR-Inertial Odometry Addressing LiDAR Measurement Noise Discrepancy

    Oct 3, 2026Gunhee Shin, Seungjae Lee, Minho Oh +4Adaptive Lidar-Inertial OdometryLiDAR Odometry

    School of Electrical Engineering, KAIST (Korea Advanced Institute of Science and Technology), Daejeon 34141, Republic of Korea · Hanwha Aerospace, 6, Pangyo-ro 319 beon-gil, Bundang-gu, Seongnam-si, Gyeonggi-do, Republic of Korea

  5. Dynamic-LIVO: A Dynamic-Aware LiDAR-Inertial-Visual Odometry System Using Spatio-Temporal Normals

    Sep 16, 2026Zhixin Zhang, Samuel Ahiwe, Matthew Hale +2Inertial OdometryCamera-LiDAR Fusion

    Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, U.K. · Department of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester M13 9PL, U.K. · School of Informatics, University of Edinburgh, Edinburgh EH8 9AB, U.K.

  6. Flight-Ready LiDAR-Inertial Odometry for Embedded Drone Platforms

    Jul 24, 2026Alvaro J. Gaona, David Perez-Saura, Francisco J. Anguita +1Inertial OdometryUAV Navigation

    Computer Vision and Aerial Robotics Group at Centre for Automation and Robotics C.A.R. (UPM-CSIC), Universidad Politécnica de Madrid (CVAR-UPM), Calle Jose Gutierrez Abascal 2, 28006 Madrid, Spain

  7. SA-LIVO: Efficient LiDAR-Inertial-Visual Odometry with Subspace-Aware Degeneracy Handling

    Jun 24, 2026Yinong Cao, Xin He, Yijie Wang +11Inertial OdometryRobot Localization

    Key Laboratory of Space Active Opto-Electronics Technology, Shanghai Institute of Technical Physics, Chinese Academy of Sciences, Shanghai 200083, China. · Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences, Hangzhou 310024, China.

  8. FAST-LIVGO: A Degeneracy-Robust LiDAR-Inertial-Visual-GNSS Fusion Odometry

    Jun 17, 2026Zhiyu Chen, Chunran Zheng, Jiayu Wen +4Error-State Kalman FilteringRobot Localization

    College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China · Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China · College of Automation, Harbin Engineering University, Harbin 150001, China

  9. EllipseLIO: Adaptive LiDAR Inertial Odometry with an Ellipsoid Representation

    May 20, 2026Rowan Border, Margarita ChliInertial OdometryMobile Robotics

    Vision for Robotics Lab (V4RL), University of Cyprus, Cyprus · ETH Zurich, Switzerland

  10. CT-VoxelMap: Efficient Continuous-Time LiDAR-Inertial Odometry with Probabilistic Adaptive Voxel Mapping

    Apr 4, 2026Lei Zhao, Xingyi Li, Tianchen Deng +3B-Spline Trajectory RepresentationAdaptive Lidar-Inertial Odometry

  11. ALIVE-LIO: Degeneracy-Aware Learning of Inertial Velocity for Enhancing ESKF-Based LiDAR-Inertial Odometry

    Apr 3, 2026Seongjun Kim, Daehan Lee, Junwoo Hong +3LiDAR OdometryAdaptive Lidar-Inertial Odometry

    S. Kim is with the Department of Electrical Engineering, POSTECH, Pohang 37673, Republic of Korea · D. Lee, J. Hong, S. Park, and H. Jo are with the Department of Convergence IT Engineering, POSTECH, Pohang 37673, Republic of Korea · S. Han is with the Department of Electrical Engineering and Convergence IT Engineering, POSTECH, Pohang 37673, Republic of Korea

  12. Benchmarking Visual Feature Representations for LiDAR-Inertial-Visual Odometry Under Challenging Conditions

    Mar 19, 2026Eunseon Choi, Junwoo Hong, Daehan Lee +9Adaptive Lidar-Inertial OdometryVisual Odometry

    Department of Covergence IT Engineering, Pohang University of Science and Technology(POSTECH), Pohang 37673, Republic of Korea · School of Mechanical Engineering, Kunsan National University, Jeonbuk 54150, Republic of Korea · Department of Artificial Intelligence and Robotics, Sejong University, Seoul 05006, Republic of Korea +2

  13. GenZ-LIO: Generalizable LiDAR-Inertial Odometry Beyond Confined--Open Boundaries

    Mar 17, 2026Daehan Lee, Hyungtae Lim, Seongjun Kim +7Inertial OdometryMobile Robotics

    Computational Control Engineering Laboratory (CoCEL), Department of Convergence IT Engineering and Electrical Engineering, Pohang University of Science and Technology (POSTECH), Pohang 37673, South Korea · Laboratory for Information & Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA 02139, USA

  14. PA-LVIO: Real-Time LiDAR-Visual-Inertial Odometry and Mapping with Pose-Only Bundle Adjustment

    Mar 17, 2026Hailiang Tang, Tisheng Zhang, Liqiang Wang +3Adaptive Lidar-Inertial OdometrySimultaneous Localization and Mapping

    the GNSS Research Center, Wuhan University, Wuhan 430079, China · the Hubei Technology Innovation Center for Spatiotemporal Information and Positioning Navigation, Wuhan 430079, China · the Hubei Luojia Laboratory, Wuhan 430079, China