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cs.RO2026
EllipseLIO: Adaptive LiDAR Inertial Odometry with an Ellipsoid Representation
Rowan Border, Margarita Chli
LiDAR Inertial Odometry (LIO) is a critical component for many mobile robots that need to navigate without relying on external positioning (e.g., GPS). Platforms that operate auton…
cs.RO2024
Hyperion -- A fast, versatile symbolic Gaussian Belief Propagation framework for Continuous-Time SLAM
David Hug, Ignacio Alzugaray, Margarita Chli
Continuous-Time Simultaneous Localization And Mapping (CTSLAM) has become a promising approach for fusing asynchronous and multi-modal sensor suites. Unlike discrete-time SLAM, whi…