SA-LIVO uses eigendecomposition of the joint information matrix with linear-clamp soft gates per eigendirection for efficient degeneracy-aware LiDAR-inertial-visual odometry.
R 2LIVE: A robust, real-time, LiDAR-inertial-visual tightly-coupled state estimator and mapping,
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SA-LIVO: Efficient LiDAR-Inertial-Visual Odometry with Subspace-Aware Degeneracy Handling
SA-LIVO uses eigendecomposition of the joint information matrix with linear-clamp soft gates per eigendirection for efficient degeneracy-aware LiDAR-inertial-visual odometry.