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cs.RO2026
LF-GICP: Parameter-Free Degeneracy-Aware LiDAR Odometry via a Voxel-Normal Localizability Field
Eunsoo Im
Scan-to-map LiDAR odometry drifts unboundedly along the unobservable axes of geometrically degenerate environments like tunnels and corridors, and existing degeneracy handling requ…
cs.RO2026
PRISM-SLAM: Probabilistic Ray-Grounded Inference for Scale-aware Metric SLAM
Eunsoo Im, Gyeonggwan Lee, Seunghwan Hong +1
Monocular SLAM historically suffers from scale ambiguity and tracking failure in dynamic environments. While recent vision foundation models (VFMs) provide remarkable zero-shot dep…