SA-LIVO uses eigendecomposition of the joint information matrix with linear-clamp soft gates per eigendirection for efficient degeneracy-aware LiDAR-inertial-visual odometry.
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A novel error function yields Hamiltonian error dynamics for energy-based tracking control of a fully coupled SE(3) underwater vehicle model, with asymptotic stability proved and validated in BlueROV2 simulation.
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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.