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cs.RO2026
Dynamic-LIVO: A Dynamic-Aware LiDAR-Inertial-Visual Odometry System Using Spatio-Temporal Normals
Zhixin Zhang, Samuel Ahiwe, Matthew Hale +2
This paper proposes Dynamic-LIVO, a dynamic-aware LiDAR-Inertial-Visual Odometry (LIVO) system for robust state estimation and static colored mapping in dynamic environments. Dynam…
cs.RO2025
PL-VIWO2: A Lightweight, Fast and Robust Visual-Inertial-Wheel Odometry Using Points and Lines
Zhixin Zhang, Liang Zhao, Pawel Ladosz
Vision-based odometry has been widely adopted in autonomous driving owing to its low cost and lightweight setup; however, its performance often degrades in complex outdoor urban en…
cs.RO2025
PL-VIWO: A Lightweight and Robust Point-Line Monocular Visual Inertial Wheel Odometry
Zhixin Zhang, Wenzhi Bai, Liang Zhao +1
This paper presents a novel tightly coupled Filter-based monocular visual-inertial-wheel odometry (VIWO) system for ground robots, designed to deliver accurate and robust localizat…