ALIVE-LIO: Degeneracy-Aware Learning of Inertial Velocity for Enhancing ESKF-Based LiDAR-Inertial Odometry

Seongjun Kim, Daehan Lee, Junwoo Hong +3

Odometry estimation using light detection and ranging (LiDAR) and an inertial measurement unit (IMU), known as LiDAR-inertial odometry (LIO), often suffers from performance degrada…