D²-LIO adds a distance-dependent correspondence threshold and a Hessian-IMU weighted regularizer to LiDAR-inertial odometry, improving accuracy in some degenerate sequences but not consistently.
A LiDAR-inertial odometry with principled uncertainty modeling,
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D$^2$-LIO: Enhanced Optimization for LiDAR-IMU Odometry Considering Directional Degeneracy
D²-LIO adds a distance-dependent correspondence threshold and a Hessian-IMU weighted regularizer to LiDAR-inertial odometry, improving accuracy in some degenerate sequences but not consistently.