Multimodal Sensor Fusion

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37 papers in the last four weeks, up 131% on the four weeks before. 0.4% of all new papers.

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Latest papers 275

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GLIO2: A GPU-Parallelized Tightly-Coupled LiDAR-Inertial-GNSS System for Robust and Real-Time Global Localization and Mapping
Oct 8, 2026Qi Zhang, Xikun Liu, Qijun Qin +5Simultaneous Localization and Mapping LiDAR Localization
Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong SAR, China
A method for multimodal analysis of TAIGA experiment data using essential features
Oct 6, 2026Alexander Kryukov, Julia Dubenskaya, Elena Fedotova +6Multimodal Sensor Fusion High-Energy Physics
Lomonosov Moscow State University, Skobeltsyn Institute of Nuclear Physics, Moscow, 119991 Russia · Research Institute of Applied Physics, Irkutsk State University, Irkutsk, 664003 Russia
Source-Learned Reliance for Selective Test-Time Adaptation of Multimodal Time Series
Oct 5, 2026Payal Mohapatra, Yueyuan Sui, Haodong Yang +3Missing-Modality Learning Test-Time Adaptation
Arm Inc., USA · Northwestern University, USA
SURGE: Sonar-fUsed Reconstruction and localization via image-gated Graph Estimation
Oct 5, 2026Mohammed Ibrahim M, Vallabh Deogaonkar, Trung Dong +3Underwater 3D Reconstruction Robot Localization
Department of Electrical and Computer Engineering University of South Florida Tampa, FL, USA · Department of Ocean Engineering Indian Institute of Technology Madras Chennai, India · Department of Naval Architecture and Ocean Engineering Seoul National University Seoul, South Korea
ROMA: LLM System for Real-World Object-Centric Multi-Sensory Active Perception
Oct 3, 2026Ruoxuan Feng, Yutong Chen, Ruihua Song +4Robotic Perception Multimodal Sensor Fusion
Gaoling School of Artificial Intelligence, Renmin University of China · Beijing Key Laboratory of Research on Large Models and Intelligent Governance · Beijing Academy of Artificial Intelligence +3
AIMS: An Agentic AI Framework for Sim-to-Real Multi-Modal ISAC
Sep 30, 2026Yijie Bian, Kai Zhang, Wei Guo +4Integrated Sensing and Communication Sim-to-Real Transfer
Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong
Magnetic based In-situ Self 3D Pose Estimation for a Modular Soft Tendon-Driven Continuum Robot via IMU-Fusion
Sep 30, 2026Zheng Cao, Guo Ning Sue, Xiangyun Bu +3Continuum Robot Control Robot State Estimation
Carnegie Mellon University
Active Mapping of Underwater Litter Using Camera-Sonar Fusion
Sep 30, 2026David Rete, Patrick Boros, Lucian BusoniuActive Sensing Underwater Robotics
Department of Automation Technical University of Cluj-Napoca Romania
End-to-End Self-Supervised RGB-T Tracking without Modality Misleading
Sep 29, 2026Shenglan Li, Rui Yao, Kunyang Sun +4Multimodal Robustness Visual Object Tracking
School of Computer Science and Technology / School of Artificial Intelligence, China University of Mining and Technology, China. · Mine Digitization Engineering Research Center of the Ministry of Education, China. · University of Auckland, Auckland, New Zealand. +1
GlassFormer: Learning Real-time Glass Segmentation using Radar-Depth Fusion
Sep 29, 2026Suhani Grover, Astik Srivastava, Viswas Dinesh +2Robotic Perception Semantic Segmentation
Robotics Research Center, IIIT Hyderabad, India
Reliability-Gated Fusion of Consumer Head and Foot IMUs for Lower-Body 3D Pose
Sep 28, 2026Zhilin Guo, Boqiao Zhang, Oszkár Urbán +8Markerless Motion Capture 3D Human Pose Estimation
University of Cambridge · Chalmers University of Technology
A Multimodal Autonomic Sensing Framework for Objective Assessment of Patient Responses to Dental Pulp Stimulation
Sep 28, 2026Youngsun Kong, Yubin Choi, Dongjin Song +3Multimodal Classification Multimodal Sensor Fusion
Department of Biomedical Engineering, University of Connecticut, Storrs, CT 06269 USA · Department of Endodontics, University of Connecticut Health, Farmington, CT 06030 USA · School of Computing, University of Connecticut, Storrs, CT 06269 USA
One Sensor, Whole Body - 3D Body Pose from a Single Consumer Earbud IMU
Sep 28, 2026Zhilin Guo, Boqiao Zhang, Oszkár Urbán +8Wearable Sensing 3D Human Pose Estimation
University of Cambridge United Kingdom · Chalmers University of Technology Sweden
Federated Multi-Modal Human Activity Recognition using Multi-Agent Reinforcement Learning
Sep 27, 2026Debasmita Dey, Tanmay Sen, Himel MallickMultimodal Federated Learning Human Activity Recognition
SQC & OR Unit Indian Statistical Institute Kolkata Kolkata, India · Department of Population Health Sciences Cornell University 425 E 61st Street New York
TriO: Tri-Modal Unsupervised Occupancy World Model for Anything Perception
Sep 25, 2026Quinlan Sykora, Sourav Biswas, Christopher Diehl +3Unsupervised Learning Autonomous Driving Perception
Waabi · University of Toronto
PolyUMI: Accessible Visual-Tactile-Audio Data Collection for Object Inference and Manipulation
Sep 24, 2026Conor W. Hayes, Rickmer Krohn, Aravind Ramaswami +6Contact-Rich Robotic Manipulation Robotic Data Collection
Center for Robotics and Biosystems, Northwestern Univ., Evanston, IL, USA · Interactive Robot Perception & Learning (PEARL) Lab, TU Darmstadt, Germany · Robotics Institute Germany (RIG)
Free-Init: Scan-Free, Motion-Free, and Correspondence-Free Initialization for Doppler LiDAR-Inertial Systems
Sep 24, 2026Mingle Zhao, Jiahao Wang, Tianxiao Gao +2Inertial Odometry LiDAR Odometry
The authors are with the University of Macau.
Dr-LiSA: Direct Radar-Lidar Scan Alignment for $SE(3)$ Localization
Sep 22, 2026Alex Zhang, Daniil Lisus, Cedric Le Gentil +1LiDAR Localization Map-Based Localization
Robotics Institute, University of Toronto, Canada · Mobile Robotics Lab, ETH Zürich, Switzerland
MOLA LiDAR-Inertial Odometry (MOLA-LIO) on the COMFORT Localization Benchmark
Sep 22, 2026Jose Luis Blanco-ClaracoLiDAR Odometry Multimodal Sensor Fusion
Engineering Department University of Almer´ıa, Spain
Recording Hand-Held Laparoscopic Instrument Motion in the Operating Room: Magnetometer-Free Fusion of Inertial, Range and Visual Sensing
Sep 22, 2026Jiyul Lee, Dongho Yee, Juahn Oh +9Object Pose Estimation Surgical Robotics
Department of Transdisciplinary Medicine, Seoul National University Hospital, Seoul, Republic of Korea. · Rosota Inc., Seoul, Republic of Korea. · Department of Medicine, Seoul National University College of Medicine, Seoul, Republic of Korea. +6
Detecting Agitation Before Behavioral Escalation in Autistic Youth Through Multimodal Wearable Sensing
Sep 21, 2026Nibraas Khan, Abigale Plunk, John Staubitz +8Autism Spectrum Disorder Wearable Sensing
Department of Computer Science, Vanderbilt University, Nashville, TN, USA · Department of Electrical and Computer Engineering, Vanderbilt University, Nashville, TN, USA · Treatment and Research Institute for Autism Spectrum Disorders (TRIAD), Vanderbilt University Medical Center, Nashville, TN, USA +2
UniPoint: Unified Point-Level Sensor Fusion for Humanoid Locomotion Across Challenging Terrains
Sep 20, 2026Sicen Li, Zhen Chu, Chao Li +2Humanoid Robot Locomotion Point Cloud Learning
College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China · Yunshenchu Technology Co., Ltd., Hangzhou, China · Zhejiang Key Laboratory of Additive Manufacturing Technology and Equipment, Hangzhou, China
Beyond Direct Sensing: Harnessing Indirect Observations from Third-Party Sensors in Vehicle Tracking
Sep 16, 2026Gaofeng Dong, Vamsi Eyunni, Pragya Sharma +2Visual Object Tracking Multimodal Sensor Fusion
Department of Electrical and Computer Engineering University of California, Los Angeles Los Angeles, CA, USA
Online Multimodal Workload Assessment in Contact-Rich Physical Human-Robot Interaction
Sep 16, 2026Yanyi Chen, Fan Yang, Min DengHuman-Robot Interaction Multimodal Sensor Fusion
Department of Civil and Environmental Engineering, University of Tennessee, Knoxville, TN 37996, USA · College of Information and Communications, University of South Carolina, SC 29208, USA
Multi-Session Multimodal Underwater Mapping with Acoustic and Optical Imaging
Sep 15, 2026Precious Philip-Ifabiyi, Valerio Franchi, Fausto Ferreira +1Factor Graph Optimization Cross-Modal Image Registration
Computer Vision and Robotics Research Institute (ViCOROB), University of Girona, Campus Montilivi, Edifici P4, Girona, 17003, Catalonia, Spain · University of Zagreb Faculty of Electrical Engineering and Computing, Zagreb, Croatia · University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Underwater Systems and Technologies (LABUST), Zagreb, Croatia +1
TIO-Former: Ultra-Lightweight 6-Directional ToF-Inertial Odometry for Nano-UAVs via a Streaming Causal Transformer
Sep 15, 2026Yang Liu, Yifan He, Wenhao Zhao +9Inertial Odometry Transformer
Zhejiang University, Hangzhou, China · Differential Robotics, Hangzhou, China
AsyncCouple-Flow: Asynchronous Cross-Modal Coupling and Flow Matching for Spatio-Temporal Forecasting
Sep 15, 2026Zhixiang Wu, Yining Liu, Bo Zhao +4Missing-Modality Learning Spatiotemporal Forecasting
Institute of Computing Technology, Chinese Academy of Sciences, China · Emory University, USA · University of California, Berkeley, USA +3
SlipSense: Multimodal Tactile Learning for Low-Latency and Generalized Slip Detection
Sep 14, 2026Tong Jian, Aditya Thurvas Senthil Kumar, Xinyi Li +7Tactile Sensing Tactile Sensing for Robotic Manipulation
Dexterous AI Group, Analog Devices, Inc.
Sensory Precision Inference for Multimodal Arbitration under Uncertainty
Sep 14, 2026Tin Mišić, Takato HoriiMultimodal Robustness Active Inference
The University of Osaka, Japan · IRCN, The University of Tokyo, Japan
Impact of Multiple Non-Invasive Biosignals on Cardiovascular Biomarker Estimation via Simulation-Based Inference
Sep 14, 2026Shusaku Maeda, Masahiro Nakano, Tomoharu Iwata +3Multimodal Sensor Fusion
Communication Science Laboratories, NTT Corporation, Atsugi, Kanagawa 243-0198, Japan

Oct 8, 2026, cs.ROJ/K move · Enter open · S save

GLIO2: A GPU-Parallelized Tightly-Coupled LiDAR-Inertial-GNSS System for Robust and Real-Time Global Localization and Mapping

Qi Zhang, Xikun Liu, Qijun Qin, Xiangru Wang+4

Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong SAR, China

Simultaneous Localization and Mapping LiDAR Localization Multimodal Sensor Fusion Factor Graph Optimization

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Globally consistent, real-time state estimation in large-scale, perceptually degraded environments is essential for autonomous vehicles and aerial robots, and requires fusing LiDAR, inertial, and GNSS measurements. Existing fusion methods, however, share a scan-to-map front-end with two failure modes. First, each scan is aligned to an incrementally built map that drifts under degeneracy, and once the estimate diverges the error is irrecoverable. Second, even without divergence, a registration biased by dynamic objects or wrong correspondences is propagated as a single pose constraint with an over-confident covariance, leaving its correspondences unavailable for GNSS to re-weight or relinearize. We propose GLIO2, a tightly-coupled LiDAR-Inertial-GNSS system whose GPU-parallel front-end jointly optimizes scan-to-multiscan LiDAR, IMU pre-integration, and raw GNSS measurements in a single sliding-window factor graph, sustaining real-time operation on edge hardware. A complementary offline back-end reuses the same cached factors to refine the entire trajectory in batch, completing the 30-min, 4.51-km UrbanNav Whampoa sequence in about 24 s. Across three public benchmarks (UrbanNav, MARS-LVIG, M3DGR) and self-collected UAV and vehicle data, GLIO2 attains the best overall accuracy among evaluated systems. On a 5.66-km bridge traversed at up to 96 km/h, where every competing baseline diverges under LiDAR degeneracy, it maintains 1.6 m horizontal accuracy. On an NVIDIA Jetson Orin NX, the full pipeline runs at about 25 Hz (39.60 ms per scan). The source code and datasets will be released.

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