2 papers
cs.RO2026
SA-LIVO: Efficient LiDAR-Inertial-Visual Odometry with Subspace-Aware Degeneracy Handling
Yinong Cao, Xin He, Shouzheng Zhu +10
Tightly coupled LiDAR-inertial-visual odometry (LIVO) fuses geometric depth with visual measurements, but its exteroceptive sensors fail independently: LiDAR when scan geometry is…
cs.RO2026
Omni-LIVO: Robust RGB-Colored Multi-Camera Visual-Inertial-LiDAR Odometry via Photometric Migration and ESIKF Fusion
Yinong Cao, Chenyang Zhang, Xin He +9
Wide field-of-view (FoV) LiDAR sensors provide dense geometry across large environments, but existing LiDAR-inertial-visual odometry (LIVO) systems generally rely on a single camer…