SA-LIVO uses eigendecomposition of the joint information matrix with linear-clamp soft gates per eigendirection for efficient degeneracy-aware LiDAR-inertial-visual odometry.
Invariant ex- tended Kalman filtering for tightly coupled LiDAR-inertial odom- IEEE TRANSACTIONS ON ROBOTICS 20 etry 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.