Robot Localization

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13 papers in the last four weeks, up 86% on the four weeks before. 0.1% of all new papers.

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SA-LIVO: Efficient LiDAR-Inertial-Visual Odometry with Subspace-Aware Degeneracy Handling
Jun 24, 2026Yinong Cao, Xin He, Yuwei Chen +3Inertial Odometry Robot 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.
OrthoTrack: Continuous 6-DoF UAV Trajectory Estimation Anchored in Public Orthophotos
Jun 24, 2026Oussema Dhaouadi, Zuria Bauer, Johannes Michael Meier +3UAV Navigation Camera Pose Estimation
ETH Zurich · TU Munich · University of Cambridge +2
From Open Waters to Enclosed Cabins: ProteusVPR for Cross-Scene Visual Place Recognition in Maritime Perception and Cabin Inspection
Jun 23, 2026Zexi Chen, Zitai Huang, Qiwen Gu +6Visual Place Recognition Robotics
Shanghai Jiaotong University, Shanghai, China · Shanghai Ship and Shipping Research Institute Co.LTD, Shanghai, China · Tongji University, Shanghai, China +2
Ultra-Fusion: A Resilient Tightly-Coupled Multi-Sensor Fusion SLAM Framework under Sensor Degradation and Spatiotemporal Perturbation for Intelligent Transportation Systems
Jun 19, 2026Yihong Tian, Junjie Zhang, Liuyang Li +3Simultaneous Localization and Mapping Robot Localization
Beijing Institute of Technology · Chongqing University · Sichuan University +2
An implicitization-based solution to the minimal 4s/6r ToA problem using Cayley--Menger determinants
Jun 18, 2026Evgeniy MartyushevRobot Localization
South Ural State University 76 Lenin Avenue, Chelyabinsk 454080, Russia
An Infrastructure-less, Control-Independent Solution to Relative Localisation of a Team of Mobile Robots using Ranging Measurements
Jun 18, 2026Paolo Golinelli, Tommaso Faraci, Daniele FontanelliCooperative Localization Robot Localization
Department of Industrial Engineering, University of Trento, Trento, Italy · Department of Information Engineering and Computer Science, University of Trento, Trento, Italy
Route-Constrained Robust Fusion Estimation for MEMS/GNSS Integrated Navigation of Unmanned Ground Vehicles in GNSS Degraded Environments
Jun 18, 2026Jingzhi Cui, Chao Zhang, Yuliang Mao +4Robot Navigation GNSS-Denied Localization
State Key Laboratory of Precision Space-time Information Sensing Technology, Tsinghua University, Beijing, China · Xiaomi Inc., Beijing, China
FAST-LIVGO: A Degeneracy-Robust LiDAR-Inertial-Visual-GNSS Fusion Odometry
Jun 17, 2026Zhiyu Chen, Chunran Zheng, Jiayu Wen +4Robot Localization Multimodal Sensor Fusion
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
Aerial-ground LiDAR place recognition with patch-level self-supervised learning and expanded reciprocal re-ranking
Jun 17, 2026Yandi Yang, Xianghong Zou, Jianping Li +4LiDAR Place Recognition Learning to Rank
Department of Geomatics Engineering, University of Calgary, Calgary, T2N 1N4, Canada · School of Advanced Manufacturing, Nanchang University, Nanchang, 330031, China · School of Electrical and Electronic Engineering, Nanyang Technological University, 639798, Singapore +1
Heterogeneous LiDAR Early Fusion and Learned Re-Ranking Strategy for Robust Long-Term Place Recognition in Unstructured Environments
Jun 11, 2026Judith Vilella-Cantos, Juan José Cabrera, Mónica Ballesta +2LiDAR Place Recognition Agricultural Robotics
University Institute for Engineering Research, Miguel Hernández University, Avda. de la Universidad s/n, Edificio Innova, Elche, 03202, Alicante, Spain
SG2Loc: Sequential Visual Localization on 3D Scene Graphs
Jun 10, 2026Nicole Damblon, Olga Vysotska, Federico Tombari +2Map-Based Localization Robot Localization
1ETH Zurich · 2Google · 3TU Munich +1
Globally Localizing Lunar Rover in Pixels via Graph Alignment
Jun 9, 2026Mao Chen, Xu Yang, Chuankai Liu +5Cross-View Geo-Localization GNSS-Denied Localization
The State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China. · School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China. · Beijing Aerospace Control Center, Beijing, China. +1
VGP-Nav: Metric-Aware Visual Geometric Perception for Robot Navigation
Jun 8, 2026Hewei Pan, Weiye Zhu, Zekai Zhang +4Robot Navigation Robot Localization
Southern University of Science and Technology, Shenzhen, China. · MBZUAI, Abu Dhabi, UAE. · Shenzhen University, Shenzhen, China. +1
Meridian: Metric-Semantic Primitive Matching for Cross-View Geo-Localization Beyond Urban Environments
Jun 4, 2026Mason Peterson, Qingyuan Li, Yixuan Jia +4Cross-View Geo-Localization Visual Place Recognition
Massachusetts Institute of Technology, Cambridge, MA 02139, USA. · GRASP Laboratory, University of Pennsylvania, Philadelphia, PA 19104, USA. · U.S. Army Combat Capabilities Development Command, Army Research Laboratory, Adelphi, MD 20783, USA.
Multi-Robot Bearing-only Pose Estimation via Angle Rigidity
Jun 2, 2026J. Francisco Presenza, Leonardo J. Colombo, Ignacio Mas +1Relative Pose Estimation Multi-Robot Systems
Institute of Engineering Technology and Sciences “Hilario Fern´andez Long” (CONICET-UBA) - Av. Paseo Col´on 850, C1063ACV, Buenos Aires, Argentina · Centre for Automation and Robotics (CSIC-UPM) - Ctra. M300 Campo Real, Km 0.200, Arganda del Rey, 28500, Madrid, Spain · Artificial Intelligence and Robotics Laboratory, Universidad de San Andr´es and CONICET - Vito Dumas 284, B1644BID, Victoria, Argentina
Adversarial Attacks on Robot Localization Systems via Deep Feature Perturbation
Jun 1, 2026Zhenyu Li, Tianyi ShangAdversarial Attacks Vector Quantization
Shandong Academy of Sciences · Fuzhou University
VLM-GLoc: Vision-Language Model Enhanced Monte Carlo Localization for Robust Semantic Global Localization in Cluttered Quasi-Static Environments
May 28, 2026Shivendra Agrawal, Bradley HayesMap-Based Localization Robot Localization
University of Colorado Boulder · Boulder, Colorado, USA
SAFEVPR: Patch-Based Conformal Verification for Safe Cross-Condition Sequence Visual Place Recognition
May 27, 2026Ha Sier, Jiaqiang Zhang, Zhuo Zou +2Distribution Shift Visual Place Recognition
Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Turku, Finland · School of Information Science and Technology, Fudan University, Shanghai, China
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 Filtering Inertial Odometry
Shanghai Jiao Tong University, Shanghai, China
KappaPlace: Learning Hyperspherical Uncertainty for Visual Place Recognition via Prototype-Anchored Supervision
May 19, 2026Maya Yanko, Yoli ShavitVisual Representation Learning Visual Place Recognition
Faculty of Engineering Bar-Ilan University Ramat Gan, Israel
Towards Ubiquitous Mapping and Localization for Dynamic Indoor Environments
May 18, 2026Halim Djerroud, Nico Steyn, Olivier Rabreau +2Simultaneous Localization and Mapping Dynamic Scene Reconstruction
Université Paris-Saclay, UVSQ, LISV, 78140, Vélizy-Villacoublay, France. · Tshwane University of Technology. Department of Electrical Engineering, Pretoria, South Africa
SOCC-ICP: Semantics-Assisted Odometry based on Occupancy Grids and ICP
May 14, 2026Johannes Scherer, Sebastian Hirt, Henri MeeßLiDAR Odometry Semantic Occupancy Mapping
Fraunhofer IVI, 85049 Ingolstadt, Germany · Technische Hochschule Ingolstadt, 85049 Ingolstadt, Germany · Ancud IT-Beratung GmbH, 90478 Nürnberg, Germany
PDRNN: Modular Data-driven Pedestrian Dead Reckoning on Loosely Coupled Radio- and Inertial-Signalstreams
May 14, 2026Peter Bauer, Andreas Porada, Felix Ott +2Recurrent Neural Networks Robot Localization
Fraunhofer Institute for Integrated Circuits IIS, 90411 Nürnberg, Germany · Friedrich-Alexander-Universität Erlangen-Nürnberg, 91058 Erlangen, Germany
Uncertainty-Aware 3D Position Refinement for Multi-UAV Systems
May 13, 2026Hosam Alamleh, Damir PulatovMulti-Robot Systems UAV Navigation
Computer Science University of North Carolina Wilmington Wilmington, North Carolina, USA
Calibration-Free Gas Source Localization with Mobile Robots: Source Term Estimation Based on Concentration Measurement Ranking
May 13, 2026Wanting Jin, Agatha Duranceau, İzzet Kağan Erünsal +1Mobile Robotics Robot Localization
Distributed Intelligent Systems and Algorithms Laboratory, School of Architecture, Civil and Environmental Engineering, École Polytechnique Fédérale de Lausanne (EPFL), 1015 Lausanne, Switzerland
PoseCompass: Intelligent Synthetic Pose Selection for Visual Localization
May 12, 2026Yanan Zhou, Zhaoyan Qian, Yanli Li +3Visual Place Recognition Camera Pose Estimation
The University of Sydney, Australia · University of St Andrews, United Kingdom
Weather-Robust Cross-View Geo-Localization via Prototype-Based Semantic Part Discovery
May 12, 2026Chi-Nguyen Tran, Dao Sy Duy Minh, Huynh Trung Kiet +3Cross-View Geo-Localization Visual Representation Learning
Faculty of Information Technology, University of Science, Vietnam National University, Ho Chi Minh City, Vietnam. · Department of Computer Science, University of Warwick, Coventry, United Kingdom.
OpenSGA: Efficient 3D Scene Graph Alignment in the Open World
May 11, 2026Gang Chen, Sebastián Barbas Laina, Stefan Leutenegger +1Robot Localization 3D Scene Understanding
Autonomous Multi-Robots Lab, Department of Cognitive Robotics, School of Mechanical Engineering, Delft University of Technology, 2628 CD, Delft, Netherlands · Mobile Robotics Lab, School of Computation, Information and Technology, Technical University of Munich · Mobile Robotics Lab, Department of Mechanical and Process Engineering, ETH Zürich
Learning Displacement-Aware WiFi Representations for Weakly Supervised Relative Localization
May 9, 2026Tzu-Ti Wei, Po-Cheng Chen, Yu-Chee Tseng +1Cross-Modal Representation Learning Wireless Localization
College of AI, National Yang Ming Chiao Tung University, Taiwan
Disambiguating 2D-3D Correspondences in Gaussian Splatting-based Feature Fields for Visual Localization
May 8, 2026Miso Lee, Sangeek Hyun, Yerim Jeon +13D Gaussian Splatting Visual Place Recognition
Sungkyunkwan University

Jun 24, 2026, cs.ROJ/K move · Enter open · S save

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

Yinong Cao, Xin He, Yuwei Chen, Shijie Liu+2

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.

Inertial Odometry Robot Localization Multimodal Sensor Fusion

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Tightly coupled LiDAR-visual-inertial odometry (LIVO) fuses precise geometric depth with complementary visual measurements, yet its exteroceptive sensors face independent failure modes: LiDAR degenerates when scan geometry is under-constrained, while visual measurements degrade under adverse illumination or texture absence. Existing countermeasures, including binary degeneracy detection, covariance inflation, and scene-level quality gating, operate at the modality level and leave the direction-dependent structure of the joint information matrix unaddressed. Consequently, visual residuals enter pose directions where LiDAR is well-constrained, while in deficient directions visual compensation disperses across the full state space rather than concentrating where needed. We propose SA-LIVO, a LiDAR-inertial-visual odometry system addressing these limitations through direction-selective fusion and information-efficient processing. The Subspace-Aware Information Fusion (SAIF) framework eigendecomposes the joint LiDAR-visual information matrix and applies a linear-clamp soft gate per eigendirection, attenuating degenerate directions while preserving observable ones at full strength. LiDAR and visual residuals are then jointly optimized in one InEKF loop at a shared linearization point. Since visual information contributes only where LiDAR is deficient, photometric Jacobians are assembled once before the loop and reused across iterations, avoiding the per-iteration cost of conventional iterated filters. Experiments on 29 sequences from three benchmarks (HILTI'22, New College, Oxford Spires) and concurrent-degradation scenarios show accuracy competitive with the strongest baselines and bounded drift where competing systems diverge. SA-LIVO averages 12.3 ms per frame on a laptop CPU and 26.8 ms on an embedded ARM board without GPU, with 3.6-6.3x lower peak memory. The code will be open-sourced.

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