LiDAR Odometry

LiDAR: Light Detection and Ranging

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Overview

LiDAR odometry estimates a robot’s changing position and orientation from 3D laser scans, providing motion estimates for navigation and mapping. Common methods align scans or local maps with ICP and GICP, while tightly coupled LiDAR-inertial filters, factor graphs, and continuous-time trajectories use IMU data to improve motion compensation and state estimation. Newer approaches add semantic or ground constraints, Doppler measurements, learned motion cues, and adaptive voxel maps; systems are commonly evaluated on driving, indoor, and handheld sequences such as KITTI, MulRan, and Newer College. Real-time performance is increasingly practical, but reliable operation remains difficult in sparse or repetitive geometry, changing weather and seasons, dynamic scenes, and high-speed motion, and benchmark results do not always transfer across environments.

Latest papers

CardsList

46 papers6 papers in the last four weeks, down 25% on 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. LIN-SLAM: Lightweight LiDAR--Inertial Neural SLAM for Real-Time Onboard Navigation

    Oct 15, 2026Shiqi Che, Yijie Liu, Shuo Wang +1Simultaneous Localization and MappingRobot Localization

    School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China

  3. When LiDAR Fades, Radar Takes Over: LiDAR Reliability-Aware Adaptive Localization Under Airborne Obscurants

    Oct 9, 2026Moumita Mukherjee, Avijit Banerjee, Anton Koval +1Robot LocalizationLiDAR Odometry

    Robotics and AI Group, Department of Computer, Electrical and Space Engineering, Luleå University of Technology, Luleå, Sweden

  4. 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.

  5. 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

  6. Degeneracy-Orthogonal Geometric Constraints for LiDAR SLAM

    Sep 29, 2026Minseo Kim, Yina Kim, Jinhwa Hwang +1Simultaneous Localization and MappingLiDAR Odometry

    Department of Mechanical Systems Engineering, Sookmyung Women’s University, 100 Cheongpa-ro 47-gil, Yongsan-gu, Seoul 04310, Republic of Korea

  7. Free-Init: Scan-Free, Motion-Free, and Correspondence-Free Initialization for Doppler LiDAR-Inertial Systems

    Sep 24, 2026Mingle Zhao, Jiahao Wang, Tianxiao Gao +2Inertial OdometryLiDAR Odometry

    The authors are with the University of Macau.

  8. FMCW-LIO: A Doppler LiDAR-Inertial Odometry

    Sep 24, 2026Mingle Zhao, Jiahao Wang, Tianxiao Gao +2Inertial OdometryLiDAR Odometry

    The authors are with the University of Macau.

  9. Unsigned Distance Maps on 2D Point Cloud Registration

    Sep 22, 2026Ricardo B. Sousa, Giorgio Grisetti, Héber Miguel Sobreira +2LiDAR OdometryPoint Cloud Registration

    Faculty of Engineering, University of Porto (FEUP). R. Dr. Roberto Frias, 4200-465 Porto, Portugal. · INESC TEC – Institute for Systems and Computer Engineering, Technology and Science. R. Dr. Roberto Frias, 4200-465 Porto, Portugal. · Sapienza University of Rome. Piazzale Aldo Moro 5, 00185 Roma RM, Italy. +1

  10. MOLA LiDAR-Inertial Odometry (MOLA-LIO) on the COMFORT Localization Benchmark

    Sep 22, 2026Jose Luis Blanco-ClaracoLiDAR OdometryMultimodal Sensor Fusion

    Engineering Department University of Almer´ıa, Spain

  11. LiLi: Lie Theory Based 3D LiDAR Scan Alignment Degeneracy Detection

    Sep 15, 2026Vsevolod Hulchuk, Jan Bayer, Jan FaiglLiDAR OdometryLie Group Methods

    Faculty of Electrical Engineering, Czech Technical University, Technická 2, 166 27, Prague, Czech Republic

  12. Does Online Gravity Estimation Matter? Revisiting a Silent Design Split in LiDAR-Inertial Odometry

    Sep 12, 2026Jie Xu, Ziyi Jin, Kangjin Yu +5Inertial OdometryLiDAR Odometry

    Anyverse Dynamics

  13. Parameter Sensitivity Analysis for Aerial LiDAR-Inertial Odometries in low-altitude flights

    Sep 11, 2026Robert Milijas, Jose Ramiro Martinez-de Dios, Stjepan BogdanSimultaneous Localization and MappingUAV Navigation

    CoE MARBLE - Centre of Excellence in Maritime Robotics and Technologies for Sustainable Blue Economy, Unska 3, Zagreb, 10000,, Croatia · GRVC Robotics Laboratory, Universidad de Sevilla, Camino de los Descubrimientos, Sevilla, 41092,, Spain · University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Robotics and Intelligent Control Systems (LARICS), Unska 3, Zagreb, 10000,, Croatia

  14. FIRE-LIVWO: Robust LiDAR-Inertial-Visual-Wheel Odometry via Failure-Immune mmWave Radar Enhancement

    Sep 4, 2026Kun Hu, Menggang Li, Kaidi Wu +5Simultaneous Localization and MappingRobot State Estimation

    School of Mechatronic Engineering, China University of Mining and Technology · Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, China University of Mining and Technology · National Key Laboratory of Intelligent Mining Equipment Technology, China University of Mining and Technology

  15. LF-GICP: Parameter-Free Degeneracy-Aware LiDAR Odometry via a Voxel-Normal Localizability Field

    Aug 20, 2026Eunsoo ImLiDAR OdometryPoint Cloud Registration

  16. HP2-SLAM: Adaptive Hybrid ICP for Robust and Efficient LiDAR SLAM

    Aug 15, 2026Nam Tran, Thu Tran, Hieu Phan +4Simultaneous Localization and MappingLiDAR Localization

    Department of Electrical Engineering and Computer Science, University of Arkansas, Fayetteville, AR, USA · VinRobotics · Department of Computer Science, University of Texas at Dallas, Richardson, TX, USA

  17. KILVO: Kinematic-Inertial-LiDAR-Visual Odometry with Robust Multimodal Adaptation for Humanoid Robots

    Aug 6, 2026Jixin Gao, Fucheng Liu, Teng Zhang +1Kalman FilteringInertial Odometry

    State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150006, China

  18. 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

  19. Improving Map Consistency in Graph-Based LiDAR SLAM Through Information-Aware Odometry and Retroactive Loop Closure

    Jul 15, 2026Saurabh Gupta, Niklas Trekel, Louis Wiesmann +1Pose Graph OptimizationLiDAR Odometry

    University of Bonn, Center for Robotics · Lamarr Institute for Machine Learning and Artificial Intelligence

  20. WNOJ-LIO: A White-Noise-on-Jerk Motion-Prior EKF for High-Dynamic LiDAR-IMU Fusion

    Jul 15, 2026Junning Lyu, Qizhi Guo, Xia Ning +2Inertial OdometryLiDAR Odometry

    School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China

  21. A Numerically-Robust ROS 2 Port of iG-LIO: Diagnosing and Fixing Toolchain-Induced Failures in Incremental GICP LiDAR-Inertial Odometry

    Jul 10, 2026Afonso E. Carvalho, David Portugal, Paulo PeixotoLiDAR OdometryRobotics

    Robotics Institute (RI), Carnegie Mellon University (CMU), Pittsburgh, USA. · Institute of Systems and Robotics (ISR), University of Coimbra (UC), Coimbra, Portugal.

  22. Real-Time LiDAR Gaussian Splatting SLAM

    Jul 5, 2026Seungjun Tak, Yewon Jeon, Jaeik Hwang +3Simultaneous Localization and Mapping3D Gaussian Splatting

    Sungkyunkwan University, Suwon, South Korea

  23. Self-supervised Geometry Reasoning for LiDAR Simultaneous Localization and Mapping

    Jun 29, 2026Jiwoo Kim, Jinwoo Lee, Woojae Shin +2Simultaneous Localization and MappingSelf-Supervised Learning

    Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea · Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, Republic of Korea

  24. FAR-LIO: Enabling High-Speed Autonomy through Fast, Accurate, and Robust LiDAR-Inertial Odometry

    Jun 24, 2026Maximilian Leitenstern, Marcel Weinmann, Patrick Haft +3Inertial OdometryLiDAR Odometry

    Institute of Automotive Technology, School of Engineering and Design, Technical University of Munich, Germany · NVIDIA Corp., USA

  25. Motor Angular Speed Preintegration for Multirotor UAV State Estimation

    Jun 18, 2026Matěj Petrlík, Filip Novák, Robert Pěnička +1UAV NavigationLiDAR Odometry

    Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 36, Prague 6, Czech Republic

  26. Generalized-CVO: Fast and Correspondence-Free Local Point Cloud Registration with Second Order Riemannian Optimization

    Jun 8, 2026Ray Zhang, Marcus Greiff, Thomas Lew +1Riemannian OptimizationLiDAR Odometry

    Toyota Research Institute, 4440 El Camino Real, Los Altos, California, USA

  27. Semantic-weighted ICP for LiDAR Odometry: Class-Aware Residual Reweighting for Robust Scan Registration

    Jun 2, 2026Vasco Carvalho, Tiago Barros, Urbano J. NunesLiDAR OdometryPoint Cloud Registration

    Institute of Systems and Robotics University of Coimbra Coimbra, Portugal

  28. Elevator-LIO: Robust LiDAR-Inertial Odometry for Multi-Floor Navigation under Elevator-Induced Non-Inertial Motion

    May 23, 2026Yifan Zhang, Yudong Huang, Yuchong Zhang +4Kalman FilteringInertial Odometry

    Shanghai Jiao Tong University, Shanghai, China

  29. 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

  30. Stretch-ICP: A Continuous-Trajectory Registration and Deskewing Algorithm in Scenarios of Aggressive Motions

    May 17, 2026Simon-Pierre Deschênes, Veronica Vannini, Philippe Giguère +1Simultaneous Localization and MappingLiDAR Odometry

    Northern Robotics Laboratory, Université Laval, Quebec City, QC G1V 0A6, Canada