2 papers
cs.CV2026
UpDown-SC: Gravity-Canonicalized Dual-Envelope Scan Context for Indoor LiDAR Place Recognition
Jie Xu, Yongxin Yang, Ziyi Jin +4
LiDAR place recognition is a key front end for loop closure and global relocalization, yet indoor retrieval remains difficult when attitude or sensor mounting height changes betwee…
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…