Odometry

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Period ending 2026-09-21

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A weekly snapshot of new work published in Odometry.

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

    Sep 22, 2026Jose Luis Blanco-ClaracoRobust Lidar-Inertial Odometry

  2. Elevator-VIGS: Separating Elevator Motion from Robot Motion in Visual-Inertial Gaussian Splatting SLAM

    Sep 20, 2026Rui Zhou, Zihan Zhu, Wei Zhang +3Visual-Inertial SystemsRobotic Perception

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

    Sep 16, 2026Zhixin Zhang, Samuel Ahiwe, Matthew Hale +2Robust Lidar-Inertial OdometryLight Detection And Ranging

  4. SOL-SLAM: Inverse Compositional Gauss-Newton Direct Registration for Fast Sonar-Only Local SLAM

    Sep 16, 2026Kalvik Jakkala, Jason O'KaneSimultaneous Localization And MappingForward-Looking Sonar

  5. Benchmarking Visual-Inertial Odometry in Subterranean Environments Under Sensor Degradation, Miscalibration, and Dynamic Occlusion

    Sep 16, 2026Yueying Zhu, Xiang Li, Thien-Minh Nguyen +2Visual OdometryAutonomous Surface Vehicles

  6. 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 OdometryAutonomous Drone Navigation

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

    Sep 14, 2026Robert Milijas, Jose Ramiro Martinez-de Dios, Stjepan BogdanRobust Lidar-Inertial OdometryLight Detection And Ranging

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

    Sep 12, 2026Jie Xu, Ziyi Jin, Kangjin Yu +5Robust Lidar-Inertial OdometryLight Detection And Ranging

  9. Odometer-Agnostic Drift Correction Using OpenStreetMap Lane Geometry

    Sep 9, 2026Joaquin Caballero, Emilio Garcia-Fidalgo, Alberto Ortiz +1OdometryVisual Odometry

  10. DCLP++: Learning to Navigate with Footprint Clearance and Relative Motion

    Sep 8, 2026Shanze Wang, Wei ZhangRobust Lidar-Inertial OdometryLight Detection And Ranging

  11. MFVINS: Multiple Fisheye Camera-Based Visual Inertial System

    Sep 8, 2026Eunseong Jang, YuJin Chung, Sang Jun Lee +2Visual-Inertial SystemsSimultaneous Localization And Mapping

  12. RoughSense: Lightweight Terrain-Induced Rover Vibration Prediction Using Point Clouds and IMU Feedback

    Sep 3, 2026Gabriel Manuel Garcia, Stephanie Aravecchia, Miguel Angel Olivares-MendezRobust Lidar-Inertial OdometryAutonomous Surface Vehicles

  13. TRaIL-Odom: Tightly Coupled Continuous Time Radar-IMU-LiDAR Odometry with Adaptive Doppler Weighting

    Sep 3, 2026Chiyun Noh, Turcan Tuna, William Talbot +3Inertial OdometryVision-Radar Fusion

  14. VeloBins: Learning Velocity and Its Uncertainty via Bins and Error-Conditioned Gaussian Labels for Aerial Inertial Odometry

    Aug 30, 2026Maulana Bisyir Azhari, Seungwook Lee, Donghun Han +2Inertial OdometryConditional Velocity

  15. RbFT-Net: Rectify-Before-Fuse Temporal Radar Anchors for 4D Radar-Camera Depth Completion

    Aug 13, 2026Wentao Zhao, Shouxuan Wu, Yongtao Cen +3RadarDepth Estimation

  16. ASPIRE-VINS: Adaptive Spline-based Visual-inertial Navigation System With Robust 3D Measurement Residuals

    Aug 13, 2026Kwangyik Jung, Eungchang Mason Lee, Taekjun Oh +1Visual-Inertial SystemsInertial

  17. When Your State Estimator Has Lost The Plot: Detecting Estimator Failures Via Spectral Analysis

    Aug 11, 2026Christian Lanegger, Helen Oleynikova, Roland Siegwart +1State EstimationEstimators

  18. ROEVO: Robust Organized Edge Feature-based Visual Odometry Using RGB-D Cameras

    Aug 10, 2026Mingrui Liu, Xingxing Zuo, Renlang Huang +3Visual OdometryFeed-Forward Visual Geometry Estimation

  19. TRACE: Learned Proprioceptive Odometry for Legged Robots under Unreliable Contact Conditions

    Aug 6, 2026Taehyeon Kong, Woojin Kim, Jemin HwangboProprioceptionOdometry

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

    Aug 6, 2026Jixin Gao, Fucheng Liu, Teng Zhang +1Robust Lidar-Inertial OdometryRobotic Perception

  21. Geometry Beats Estimated Depth: RGB-Only Multi-Camera 3D Tracking under Sim2Real

    Aug 4, 2026Abdullah Naeem, Anav Katwal, Ayon Dey +2Depth EstimationMonocular Depth Estimation

  22. PLS-Calib: A Partial Least Squares Framework for Event Camera and Odometry Calibration under Ground Motion Constraints

    Aug 4, 2026Guangyu Li, Xiao Li, Yujie Wu +5Camera IntrinsicsOdometry

  23. KING: Embodiment-Aware Kinematic Graph Neural Network for Unified Motion Representation of Legged and Wheeled Robots

    Aug 2, 2026Taku Okawara, Aoki Takanose, Kenji Koide +2Pose-Guided Kinematic ReasoningKinematics

  24. Stipple: Real-Time Incremental Gaussian Splatting with Visual-Inertial Tracking

    Aug 2, 2026Kilian Northoff, Mateo de Mayo, Daniel CremersVisual-Inertial Systems3D Reconstruction

  25. RaDiVe: Robust 4D Radar Odometry with Distance-Bounded NDT and Velocity-Discrepancy Point Uncertainty

    Jul 30, 2026Sangwoo Jung, Dongjae Lee, Chiyun Noh +1Sparse4D-RadarInertial Odometry

  26. Dense Soft Weighting for Radar Ego-Velocity Estimation

    Jul 29, 2026Atar Babgei, Chenyu Zhao, Michael Breza +1RadarDoppler Velocity Log

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

    Jul 24, 2026Alvaro J. Gaona, David Perez-Saura, Francisco J. Anguita +1Robust Lidar-Inertial OdometryDrone

  28. DB-VIO: Dual-Branch Visual Inertial Odometry with Enhanced Visual-Inertial Representation

    Jul 24, 2026Ziyu Wan, Lin ZhaoVisual OdometryVisual-Inertial Systems

  29. DINS-IO: Learned Inertial Odometry via Differentiable INS Consistency

    Jul 22, 2026Hao Qiao, Yan Wang, Jian Kuang +1Inertial OdometryInertial Navigation Systems

  30. NGPS: GPS-Denied Aerial Geo-Localization and 2.5D Reconstruction via Deep Satellite Image Matching and Multi-Rate Sensor Fusion

    Jul 21, 2026Sanket SharmaDrone-View Geo-LocalizationCross-View Geo-Localization

  31. Does Robust VIO Need More Learning? Geometry-Verified Visual Measurements under Distribution Shift

    Jul 20, 2026Yangyang Ning, Shu Liang, Quanbo Ge +3Visual OdometryFeed-Forward Visual Geometry Estimation

  32. Lifelong Localization in Dynamic Indoor Environments Combining Odometry with Sparse Distance Sampling

    Jul 20, 2026Michael M. Bilevich, Tomer Buber, Dan HalperinOdometryLight Detection And Ranging

  33. Multi-Resolution Voxelized Map-Based Stereo Visual-Inertial Odometry

    Jul 19, 2026Shuyi Pan, Hangtian Wang, Zhaoxing Zhang +3Visual-Inertial Systems3D Mapping

  34. 3D Lane Detection with Odometry for High-Speed Vehicle Racing

    Jul 15, 2026Omoruyi Atekha, John Subosits, Marcus GreiffAutonomous Racing3D Object Detection

  35. SeeSE3: Emergence of 3D Space in Vision Features

    Jul 15, 2026Caroline Chen, Sayna Ebrahimi, Fedor Kitashov +4Sequential Visual LocalizationVisual Odometry

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

    Jul 15, 2026Saurabh Gupta, Niklas Trekel, Louis Wiesmann +1OdometryLight Detection And Ranging

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

    Jul 15, 2026Junning Lyu, Qizhi Guo, Xia Ning +2Robust Lidar-Inertial OdometryLight Detection And Ranging

  38. Attitude Estimation Using Inertial and Barometric Measurements

    Jul 14, 2026Melone Nyoba Tchonkeu, Soulaimane Berkane, Tarek HamelInertial Navigation SystemsInertial Odometry

  39. Self-Healing Visual Recovery for Autonomous Ground Vehicles Using Camera-Only Visual Odometry

    Jul 13, 2026Jakob Solberg Berntzen, Safia Fatima, Leon MoonenVisual OdometryAutonomous Surface Vehicles

  40. Stop to Decide: Latency-Aware Proprioceptive Navigation Primitives for Mapping-Free Quadruped Inspection

    Jul 13, 2026Hanting Suo, Haonan Yan, Liang Wang +1ProprioceptionAutonomous Navigation

  41. Mapping Pamir: Multi-Session Visual-Inertial SLAM and 3D Reconstruction of an Underwater Shipwreck

    Jul 12, 2026Michalis Chatzispyrou, Luke Horgan, Hyunkil Hwang +6Underwater ImageryVisual-Inertial Systems

  42. 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 PeixotoRobust Lidar-Inertial OdometryRobot Operating System

  43. Banshee: Target Switch Attacks on Gimbal-Stabilized Visual Tracking Systems via Acoustic Injection

    Jul 10, 2026Jiarui Li, Joseph Brewington, Qingzhao Zhang +1Unmanned Aerial Vehicle TrackingMulti-Object Tracking

  44. D-CLIPSE: Distributed Consensus-based Localization with Passive Listening on Shared State Exchange

    Jul 9, 2026Kyle Biron-Gricken, James Richard ForbesRobust LocalizationOdometry

  45. Hilti-Trimble-Oxford Dataset: 360 Visual-Inertial Benchmark with Floor Plan Priors for SLAM and Localization

    Jul 7, 2026Samuele Centanni, Yuhao Zhang, Yifu Tao +8Simultaneous Localization And MappingVisual-Inertial Systems

  46. Geometry-Aware Visual Odometry for Bronchoscopic Navigation via High-Gain Observer Fusion

    Jul 6, 2026Mohammadreza Kasaei, Francis Xiatian Zhang, Feng Li +3Stable Biliary CannulationVisual Odometry

  47. WinTA-GIL: Windowed Trajectory Alignment for GNSS-IMU-LiDAR Heading Refinement in Intermittent Signal Environments

    Jul 6, 2026Kaixin Feng, Zhichao Wen, Zhaohong Liao +2Robust Lidar-Inertial OdometryGlobal Navigation Satellite System

  48. DIVO: Continuous-time DVL-Inertial-Visual Odometry for Unmanned Underwater Vehicles

    Jul 6, 2026Kyungmin Jung, Angad Bajwa, Junha Yoo +2Underwater Image EnhancementVisual Odometry

  49. Real-Time LiDAR Gaussian Splatting SLAM

    Jul 5, 2026Seungjun Tak, Yewon Jeon, Jaeik Hwang +3Gaussian Splatting Simultaneous Localization And Mapping SystemsRobust Lidar-Inertial Odometry

  50. NavEYE: Vision-Centered Multi-Sensor Fusion-Based Situational Awareness System for Intelligent Surface Vehicles

    Jul 4, 2026Ryan Wen Liu, Junxiong Liang, Haoyu Wang +1Multi-Sensor FusionVisual-Inertial Systems

  51. TRISTAR: Triple-Signal Stair Recognition and Vision-Only Indoor Navigation for Search-and-Rescue Micro-UAVs

    Jul 4, 2026Octavian Gîngu, Stelian SpînuUncrewed Aerial VehiclesVisual-Inertial Systems

  52. VOCA: Visual Odometry with Codec Awareness

    Jun 30, 2026Nouri Alexander Hilscher, Mateo de Mayo, Dominik Muhle +2Visual OdometryNeural Video Codecs

  53. PRISM-VO: Scale-Aware Visual Odometry Using Photometric Plenoptic Bundle Adjustment

    Jun 30, 2026Aymeric Fleith, Julian Zirbel, Daniel Cremers +1Visual OdometryMotion Estimation

  54. Sphere-VIO: Fast and Robust Visual-Inertial Odometry via Unified Spherical Representation for Heterogeneous Multi-Camera Systems

    Jun 29, 2026Yueteng Yang, Yusen Xie, Hao Wei +5Visual OdometryMulti-Camera Systems

  55. Cross-Spectral Stereo Inertial Odometry

    Jun 29, 2026Seungsang Yun, Hyunsoo Jang, Tai Hyoung Rhee +3Stereo MatchingVisual Odometry

  56. Analyzing Uncertainty in the Spatial Representation of the Kinematic Bicycle Model

    Jun 28, 2026Shafayat Abrar, M. Zaeem Baig, Shahir Ul Islam Anzal +1OdometryVehicle Dynamics

  57. Double-Helix Active Geometry: LiDAR-Anchored Multi-View Depth with Selective Abstention

    Jun 28, 2026Jinwen WenDepth EstimationLight Detection And Ranging

  58. PL-LIT: A LiDAR-Inertial-Thermal SLAM Using Point-Line Features and Thermographic Mapping

    Jun 28, 2026Jiawei Xia, Yixiao Feng, Yongliang Shi +4Robust Lidar-Inertial OdometryThermal Imaging

  59. Cross-Session 3D LiDAR and Camera Fusion for Robust Localization of Unmanned Aerial Vehicles in GPS-Denied Environments

    Jun 27, 2026Cong Hoang Quach, Chi Thanh Vo, Dong LT. Tran +3Drone-View Geo-LocalizationRobust Localization

  60. J-LAW: Joint Localization and Action-Conditioned World Modeling via Coupled Latent Factor Graphs

    Jun 27, 2026Guanqun Cao, Liang ChenLatent World ModelsEfficient World-Action Model