ALIVE-LIO reduces pose drift in degenerate LiDAR environments by selectively fusing a neural network's inertial velocity prediction into an ESKF only when LiDAR observability is lost.
Hong Kong UrbanNav: An open-source multisensory dataset for benchmarking urban navigation algorithms
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
cs.RO 1years
2026 1verdicts
UNVERDICTED 1representative citing papers
citing papers explorer
-
ALIVE-LIO: Degeneracy-Aware Learning of Inertial Velocity for Enhancing ESKF-Based LiDAR-Inertial Odometry
ALIVE-LIO reduces pose drift in degenerate LiDAR environments by selectively fusing a neural network's inertial velocity prediction into an ESKF only when LiDAR observability is lost.