LIR-LIVO fuses LiDAR, camera, and inertial data using SuperPoint/LightGlue deep features with LiDAR-derived depths, improving odometry under poor illumination.
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LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features
LIR-LIVO fuses LiDAR, camera, and inertial data using SuperPoint/LightGlue deep features with LiDAR-derived depths, improving odometry under poor illumination.