Robust Lidar-Inertial Odometry

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Period ending 2026-09-21

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42 papers

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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. 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

  3. 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

  4. 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

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

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

  6. 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

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

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

  8. 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

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

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

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

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

  11. 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

  12. 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

  13. 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

  14. 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

  15. Real-Time LiDAR Gaussian Splatting SLAM

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

  16. 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

  17. LXD-SLAM: LiDAR+X Dense SLAM with ∑i=05C5i\sum_{i=0}^{5}C_5^i Configurable Sensor Combinations

    Jun 26, 2026Zhong Wang, Lin Zhang, Linfei Li +4Simultaneous Localization And MappingRobust Lidar-Inertial Odometry

  18. Learning 1-Bit LiDAR-based Localization with Auxiliary Objective

    Jun 26, 2026Kaijie Yin, Zhiyuan Zhang, Tian Gao +3Sequential Visual LocalizationLight Detection And Ranging

  19. Structured-Li-GS: Structured 3D Gaussians Splatting with LiDAR Incorporation and Spatial Constraints

    Jun 25, 2026Huaiyuan Weng, Huibin Li, Chul Min Yeum3D GaussianGaussian Splatting

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

    Jun 24, 2026Maximilian Leitenstern, Marcel Weinmann, Patrick Haft +3Robust Lidar-Inertial OdometryOdometry

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

    Jun 24, 2026Yinong Cao, Xin He, Yuwei Chen +3Robust Lidar-Inertial OdometryVision Sensors

  22. Large-Scale Tunnel Air-Ground Collaboration With FLISP: Fast LiDAR-IMU Synchronized Path Planner

    Jun 24, 2026Fenghe Guo, Runjie Shen, Chenyang Sun +4Robust Lidar-Inertial OdometryCoverage Path Planning

  23. LIT-GS: LiDAR-Inertial-Thermal Gaussian Splatting for Illumination-Robust Mapping

    Jun 18, 2026Shikuan Shi, Chunran Zheng, Jiaming Xu +3Robust Lidar-Inertial OdometryLight Detection And Ranging

  24. FAST-LIVGO: A Degeneracy-Robust LiDAR-Inertial-Visual-GNSS Fusion Odometry

    Jun 17, 2026Zhiyu Chen, Chunran Zheng, Jiayu Wen +4Robust Lidar-Inertial OdometryOdometry

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

    Jun 2, 2026Vasco Carvalho, Tiago Barros, Urbano J. NunesRobust Lidar-Inertial OdometryLight Detection And Ranging

  26. Dynamic Resilient Spatio-Semantic Memory with Hybrid Localization for Mobile Manipulation

    May 30, 2026Zhijie Yan, Shufei Li, Ze Zhang +3Spatial MemoryIndoor Environments

  27. A Decentralized LiDAR-SLAM System with Certifiably Optimal Pose Graph Optimization

    May 24, 2026Baoshan Song, Feng Huang, Li-Ta HsuRobust Lidar-Inertial OdometryProximal Gradient Descent

  28. Loosely Coupled Factor Graph Optimization for Pseudolite-Augmented Navigation

    May 24, 2026Chih-Chun Chen, Lipeng Tan, Shiyu Bai +1Global Navigation Satellite SystemRobust Lidar-Inertial Odometry

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

    May 23, 2026Yifan Zhang, Yudong Huang, Yuchong Zhang +4Robust Lidar-Inertial OdometryInertial

  30. EllipseLIO: Adaptive LiDAR Inertial Odometry with an Ellipsoid Representation

    May 20, 2026Rowan Border, Margarita ChliRobust Lidar-Inertial OdometryOdometry

  31. Enhancing Graph-Based SLAM in GNSS-Denied environments by leveraging leg odometry

    May 19, 2026Léon Perruchot-Triboulet, Luc Jaulin, Kai XiaoRobust Lidar-Inertial OdometryOdometry

  32. FUSE: A Framework for Unified State Estimation in Vehicular and Robotic SLAM Systems

    May 18, 2026Wei Wu, Honglin Chen, Wenhan Cao +7Robust Lidar-Inertial OdometryState Estimation

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

    May 17, 2026Simon-Pierre Deschênes, Veronica Vannini, Philippe Giguère +1Robust Lidar-Inertial OdometrySimultaneous Localization And Mapping

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

    May 14, 2026Johannes Scherer, Sebastian Hirt, Henri MeeßRobust Lidar-Inertial Odometry3D Semantic Occupancy Prediction

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

    May 10, 2026Yueqi Zhu, Yan Pan, Chufan Rui +3Robust Lidar-Inertial OdometryAutonomous Navigation

  36. RAY-TOLD: Ray-Based Latent Dynamics for Dense Dynamic Obstacle Avoidance with TDMPC

    Apr 30, 2026Seungho Han, Seokju Lee, Jeonguk KangObstacle AvoidanceModel Predictive Path Integral

  37. LiDAR-based Crowd Navigation with Visible Edge Group Representation

    Apr 17, 2026Allan Wang, Aaron SteinfeldSocial Robot NavigationRobust Lidar-Inertial Odometry

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

    Apr 17, 2026Zhi Zhang, Chalermchon Satirapod, Bingtao Ma +1Robust Lidar-Inertial Odometry

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

    Apr 15, 2026Patrick Pfreundschuh, Turcan Tuna, Cedric Le Gentil +3Robust Lidar-Inertial OdometryPoint Cloud Registration

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

    Mar 10, 2026Katya M. Papais, Wenda Zhao, Timothy D. BarfootRobust Lidar-Inertial OdometryLidar

  41. Graph-Loc: Robust Graph-Based LiDAR Pose Tracking with Compact Structural Map Priors under Low Observability and Occlusion

    Feb 9, 2026Wentao Zhao, Yihe Niu, Zikun Chen +4Robust Lidar-Inertial OdometryLight Detection And Ranging

  42. 2Fast-2Lamaa: Large-Scale Lidar-Inertial Localization and Mapping with Continuous Distance Fields

    Oct 7, 2024Cedric Le Gentil, Raphael Falque, Daniil Lisus +1Robust Lidar-Inertial OdometryLidar