LiDAR Odometry

LiDAR: Light Detection and Ranging

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9 papers in the last four weeks, with none the four weeks before. 0.1% of all new papers.

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  1. 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.

  2. 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

  3. 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.

  4. 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.

  5. 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

  6. 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

  7. 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

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

    Sep 14, 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

  9. 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

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

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

  11. 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

  12. 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

  13. 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

  14. 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.

  15. 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

  16. 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

  17. 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

  18. 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

  19. 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

  20. 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

  21. 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

  22. 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

  23. 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

  24. SOCC-ICP: Semantics-Assisted Odometry based on Occupancy Grids and ICP

    May 14, 2026Johannes Scherer, Sebastian Hirt, Henri MeeßLiDAR OdometrySemantic Occupancy Mapping

    Fraunhofer IVI, 85049 Ingolstadt, Germany · Technische Hochschule Ingolstadt, 85049 Ingolstadt, Germany · Ancud IT-Beratung GmbH, 90478 Nürnberg, Germany

  25. Safety-Critical LiDAR-Inertial Odometry with On-Manifold Deterministic Protection Level

    May 10, 2026Yueqi Zhu, Yan Pan, Chufan Rui +3LiDAR OdometryRobot State Estimation

    School of Automation, Southeast University and Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing, China

  26. Environment-Adaptive Solid-State LiDAR-Inertial Odometry

    Apr 17, 2026Zhi Zhang, Chalermchon Satirapod, Bingtao Ma +1Simultaneous Localization and MappingLiDAR Odometry

    School of Automation Chongqing University of Posts and Telecommunications Chongqing, China · Department of Survey Engineering, Faculty of Engineering Chulalongkorn University Bangkok, Thailand · School of Cyberspace Security Hangzhou Dianzi University Hangzhou, China

  27. BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps

    Apr 15, 2026Patrick Pfreundschuh, Turcan Tuna, Cedric Le Gentil +3Inertial OdometryLiDAR Odometry

    Autonomous Systems Lab, ETH Zürich, Switzerland · Robotic Systems Lab, ETH Zürich, Switzerland · Mobile Robotics Lab, ETH Zürich, Switzerland

  28. 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

  29. Degeneracy-Resilient Teach and Repeat for Geometrically Challenging Environments Using FMCW Lidar

    Mar 10, 2026Katya M. Papais, Wenda Zhao, Timothy D. BarfootEmbodied NavigationRobot Navigation

    Institute for Aerospace Studies, University of Toronto, Canada

  30. FoMo: A Multi-Season Dataset for Robot Navigation in Forêt Montmorency

    Mar 9, 2026Matěj Boxan, Gabriel Jeanson, Alexander Krawciw +5Simultaneous Localization and MappingRobotic Data Collection

    Norlab, Universit´e Laval, Quebec City, Canada · University of Toronto Robotics Institute, Toronto, Canada