2 papers
cs.RO2026
Does Online Gravity Estimation Matter? Revisiting a Silent Design Split in LiDAR-Inertial Odometry
Jie Xu, Ziyi Jin, Kangjin Yu +5
LiDAR-inertial odometry (LIO) systems differ in whether they continue estimating gravity after initialization. We compare four gravity-bias state configurations in each of FAST-LIO…
cs.RO2024
SuperVINS: A Real-Time Visual-Inertial SLAM Framework for Challenging Imaging Conditions
Hongkun Luo, Yang Liu, Chi Guo +2
The traditional visual-inertial SLAM system often struggles with stability under low-light or motion-blur conditions, leading to potential lost of trajectory tracking. High accurac…