Paper Citation Record · LEDGER

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features

As of 18 August 2026, this Paper Citation Record lists 27 of 27 outbound references and 1 inbound Pith citation observation for arXiv:2502.08676.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2502.08676 v1

Coverage vector

measured 27 of 27 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-08T10:24:58.840525Z

measured 28 of 28 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-18T06:34:40.430872+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-06-30T07:43:30.840121Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: arxiv_reference, observed 2026-06-30T07:44:21.506058Z

Reference resolution

27 of 27 outbound references displayed

verified exact0
verified fuzzy25
unresolved2
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 8b05f307-b786-4eaf-8024-a211886801d6 · outbound

This paper cites ”Unified multi-modal landmark tracking for tightly coupled LiDAR-inertial-visual odometry.” IEEE Robotics and Automa- tion Letters 6.2 (2021): 1004-1011.

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”Unified multi-modal landmark tracking for tightly coupled LiDAR-inertial-visual odometry.” IEEE Robotics and Automa- tion Letters 6.2 (2021): 1004-1011

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:59.288072Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 1f8bc787-e3de-4136-bae7-1ec081f9adca · outbound

This paper cites ”LOAM: LiDAR odometry and mapping in real-time.” Robotics: Science and systems.

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”LOAM: LiDAR odometry and mapping in real-time.” Robotics: Science and systems

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:59.273449Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation c82f92f7-9fd5-4a27-9ad7-1af2760c5b17 · outbound

This paper cites ”Fast-lio2: Fast direct LiDAR-inertial odometry.” IEEE Transactions on Robotics 38.4 (2022): 2053-2073.

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”Fast-lio2: Fast direct LiDAR-inertial odometry.” IEEE Transactions on Robotics 38.4 (2022): 2053-2073

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:59.259009Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 93a39612-22e6-4c63-bcd7-b02a9de0ddb3 · outbound

This paper cites ”Lio-sam: Tightly-coupled LiDAR inertial odometry via smoothing and mapping.” 2020 IEEE/RSJ international conference on intelligent robots and systems (IROS).

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”Lio-sam: Tightly-coupled LiDAR inertial odometry via smoothing and mapping.” 2020 IEEE/RSJ international conference on intelligent robots and systems (IROS)

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:59.243952Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation da2f146b-dfd0-4268-b548-ec00449c9c4b · outbound

This paper cites ”Vins-mono: A robust and versatile monocular visual-inertial state estimator.” IEEE transactions on robotics 34.4 (2018): 1004-1020.

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”Vins-mono: A robust and versatile monocular visual-inertial state estimator.” IEEE transactions on robotics 34.4 (2018): 1004-1020

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:59.228688Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation aecf3efe-094d-4b04-9502-2977bb5ea137 · outbound

This paper cites an unresolved cited work.

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features Unresolved cited work

Reference 6

Resolution: unresolved; raw_fallback, observed 2026-08-08T10:24:59.213808Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation d8c28b27-3e5b-4d07-97d1-3da05fb8299b · outbound

This paper cites ”LE-VINS: A robust solid-state-LiDAR-enhanced visual-inertial navigation system for low-speed robots.” IEEE Transac- tions on Instrumentation and Measurement 72 (2023): 1-13.

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”LE-VINS: A robust solid-state-LiDAR-enhanced visual-inertial navigation system for low-speed robots.” IEEE Transac- tions on Instrumentation and Measurement 72 (2023): 1-13

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:59.198715Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 24bcfb35-aaa9-432c-a74a-90ae6628840b · outbound

This paper cites ”SR-LIVO: LiDAR-Inertial-Visual Odometry and Mapping With Sweep Reconstruction.” IEEE Robotics and Automation Letters (2024).

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”SR-LIVO: LiDAR-Inertial-Visual Odometry and Mapping With Sweep Reconstruction.” IEEE Robotics and Automation Letters (2024)

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:59.183380Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation aa82d56a-156b-4610-bf4c-54414bd94685 · outbound

This paper cites ”Camvox: A low-cost and accurate lidar-assisted visual slam system.” 2021 IEEE International Conference on Robotics and Automation (ICRA).

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”Camvox: A low-cost and accurate lidar-assisted visual slam system.” 2021 IEEE International Conference on Robotics and Automation (ICRA)

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:59.167976Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 843f98f0-8b6a-48c4-8507-843e347374a9 · outbound

This paper cites ”Lvi-sam: Tightly-coupled LiDAR-visual-inertial odometry via smoothing and mapping.” 2021 IEEE international con- ference on robotics and automation (ICRA).

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”Lvi-sam: Tightly-coupled LiDAR-visual-inertial odometry via smoothing and mapping.” 2021 IEEE international con- ference on robotics and automation (ICRA)

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:59.151779Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 07564f63-3333-40f3-bb66-322aa959fed6 · outbound

This paper cites ”Fast-livo2: Fast, direct LiDAR-inertial-visual odometry.” IEEE Transactions on Robotics (2024).

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”Fast-livo2: Fast, direct LiDAR-inertial-visual odometry.” IEEE Transactions on Robotics (2024)

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:59.136447Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 4174b70d-52d7-4820-8c19-641ea3248d7b · outbound

This paper cites ”Fast-livo: Fast and tightly-coupled sparse- direct LiDAR-inertial-visual odometry.” 2022 IEEE/RSJ international conference on intelligent robots and systems (IROS).

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”Fast-livo: Fast and tightly-coupled sparse- direct LiDAR-inertial-visual odometry.” 2022 IEEE/RSJ international conference on intelligent robots and systems (IROS)

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:59.121579Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 39c2983f-2e15-4f21-ad27-cbd4910a6873 · outbound

This paper cites ”Lego-loam: Lightweight and ground-optimized LiDAR odometry and mapping on variable terrain.” 2018 IEEE/RSJ International Conference on Intelligent Robots and Sys- tems (IROS).

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”Lego-loam: Lightweight and ground-optimized LiDAR odometry and mapping on variable terrain.” 2018 IEEE/RSJ International Conference on Intelligent Robots and Sys- tems (IROS)

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:59.106071Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation e0e97a6c-34ac-4000-bb51-f12cc237adaa · outbound

This paper cites ”Stereo visual inertial LiDAR simultaneous localization and mapping.” 2019 IEEE/RSJ international conference on intelligent robots and systems (IROS).

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”Stereo visual inertial LiDAR simultaneous localization and mapping.” 2019 IEEE/RSJ international conference on intelligent robots and systems (IROS)

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:59.091304Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 93892ad9-30f8-4137-b837-aeb91f170fc7 · outbound

This paper cites ”Lic-fusion 2.0: LiDAR-inertial-camera odometry with sliding-window plane-feature tracking.” 2020 IEEE/RSJ Interna- tional Conference on Intelligent Robots and Systems (IROS).

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”Lic-fusion 2.0: LiDAR-inertial-camera odometry with sliding-window plane-feature tracking.” 2020 IEEE/RSJ Interna- tional Conference on Intelligent Robots and Systems (IROS)

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:59.075781Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 9cdd3404-c244-4e81-9f89-99d0feb16826 · outbound

This paper cites ”Droid-slam: Deep visual slam for monocular, stereo, and rgb-d cameras.” Advances in neural information processing systems 34 (2021): 16558-16569.

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”Droid-slam: Deep visual slam for monocular, stereo, and rgb-d cameras.” Advances in neural information processing systems 34 (2021): 16558-16569

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:59.058999Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation b6cc6c02-eba7-47a0-af1f-14f31e889050 · outbound

This paper cites ”SupSLAM: A robust visual inertial SLAM system using SuperPoint for unmanned aerial vehicles.” 2021 8th NAFOSTED Conference on Information and Computer Science (NICS).

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”SupSLAM: A robust visual inertial SLAM system using SuperPoint for unmanned aerial vehicles.” 2021 8th NAFOSTED Conference on Information and Computer Science (NICS)

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:59.043180Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation eabb6f42-4fa9-4b12-8f6e-3e59a7d912a3 · outbound

This paper cites ”Super- point: Self-supervised interest point detection and description.” Proceed- ings of the IEEE conference on computer vision and pattern recognition workshops.

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”Super- point: Self-supervised interest point detection and description.” Proceed- ings of the IEEE conference on computer vision and pattern recognition workshops

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:59.028041Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation e8400eee-86bb-40ea-8578-557537000d32 · outbound

This paper cites AirSLAM: An Efficient and Illumination-Robust Point-Line Visual SLAM System.

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features AirSLAM: An Efficient and Illumination-Robust Point-Line Visual SLAM System

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-08T10:24:58.802888Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 168b9efa-8dcf-49b6-b0e9-f86584d253d3 · outbound

This paper cites ”Superglue: Learning feature matching with graph neural networks.” Proceedings of the IEEE/CVF conference on computer vision and pattern recognition.

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”Superglue: Learning feature matching with graph neural networks.” Proceedings of the IEEE/CVF conference on computer vision and pattern recognition

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:59.012866Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation e6df4dc7-1957-4565-b052-1bfc3e3de2e9 · outbound

This paper cites ”Light- glue: Local feature matching at light speed.” Proceedings of the IEEE/CVF International Conference on Computer Vision.

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”Light- glue: Local feature matching at light speed.” Proceedings of the IEEE/CVF International Conference on Computer Vision

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:58.995748Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 22a8b4e2-d5ec-4ba0-8431-9c2feb5866df · outbound

This paper cites ”XFeat: Accelerated Features for Lightweight Image Matching.” Proceedings of the IEEE/CVF Conference on Com- puter Vision and Pattern Recognition.

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”XFeat: Accelerated Features for Lightweight Image Matching.” Proceedings of the IEEE/CVF Conference on Com- puter Vision and Pattern Recognition

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:58.978752Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation b9d6f8dd-ce0b-4a29-9bde-8d6f9d4d5d70 · outbound

This paper cites ”A real-time method for depth enhanced visual odometry.” Autonomous Robots 41 (2017): 31-43.

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”A real-time method for depth enhanced visual odometry.” Autonomous Robots 41 (2017): 31-43

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:58.960996Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 9498427f-f19f-4611-94a9-16a72693d4e6 · outbound

This paper cites ”Laser–visual–inertial odometry and map- ping with high robustness and low drift.” Journal of field robotics 35.8 (2018): 1242-1264.

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”Laser–visual–inertial odometry and map- ping with high robustness and low drift.” Journal of field robotics 35.8 (2018): 1242-1264

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:58.944981Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 827cce34-3420-4b62-a11f-95f978a53e27 · outbound

This paper cites ”R2LIVE: A Robust, Real-Time, LiDAR-Inertial- Visual Tightly-Coupled State Estimator and Mapping.” IEEE Robotics and Automation Letters 6.4 (2021): 7469-7476.

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”R2LIVE: A Robust, Real-Time, LiDAR-Inertial- Visual Tightly-Coupled State Estimator and Mapping.” IEEE Robotics and Automation Letters 6.4 (2021): 7469-7476

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:58.929069Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 493e8f38-769c-4a1a-8c0c-05bfba972f75 · outbound

This paper cites ”Hilti-oxford dataset: A millimeter-accurate benchmark for simultaneous localization and mapping.” IEEE Robotics and Automation Letters 8.1 (2022): 408-415.

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”Hilti-oxford dataset: A millimeter-accurate benchmark for simultaneous localization and mapping.” IEEE Robotics and Automation Letters 8.1 (2022): 408-415

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:58.913270Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 3124070e-e4a2-40cc-99cb-1916ffaca738 · outbound

This paper cites ”Ntu viral: A visual-inertial-ranging-LiDAR dataset, from an aerial vehicle viewpoint.” The International Journal of Robotics Research 41.3 (2022): 270-280.

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features ”Ntu viral: A visual-inertial-ranging-LiDAR dataset, from an aerial vehicle viewpoint.” The International Journal of Robotics Research 41.3 (2022): 270-280

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-08T10:24:58.896593Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Pith citing papers

Observation 315661dd-c243-4df0-bfe3-bc9088c0bd8b · inbound

PL-LIT: A LiDAR-Inertial-Thermal SLAM Using Point-Line Features and Thermographic Mapping cites this paper.

PL-LIT: A LiDAR-Inertial-Thermal SLAM Using Point-Line Features and Thermographic Mapping LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features

Reference 11

Resolution: verified exact; arxiv_id, observed 2026-06-30T07:44:21.507704Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.