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Author

Junning Lyu

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Preprint Sep 2026

LBDU-VIO: Learned Bias Dynamics and Uncertainty for Visual-Inertial Odometry with Unreliable Vision

Visual-inertial odometry (VIO) for aerial robots relies on high rate inertial measurement unit (IMU) propagation between visual updates. However, conventional multi state constraint Kalman filters (MSCKFs) use random walk bias assumptions and fixed noise parameters, which can limit robustness when visual information is...

Qi-Zhi Guo, Junning Lyu, De-Fu Lin et al. · 0 citations
Preprint Jul 2026

WNOJ-LIO: A White-Noise-on-Jerk Motion-Prior EKF for High-Dynamic LiDAR-IMU Fusion

LiDAR-inertial odometry (LIO) is a key component of autonomous navigation, but high-dynamic driving exposes two coupled challenges: intra-scan motion distortion and vibration-contaminated inertial measurements. Most real-time LiDAR-inertial pipelines propagate the system state by integrating raw IMU measurements and th...

Junning Lyu, Qizhi Guo, Xia Ning et al. · 0 citations

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