Yu Yuan

RD-LIVO: degeneracy-aware LiDAR–visual–inertial odometry with adaptive observation covariance

In degenerate environments, conventional tightly-coupled LiDAR–visual–inertial odometry (LIVO) methods typically employ fixed observation noise models, which may assign unduly high weights to unreliable LiDAR and visual measurements and thereby exacerbate drift risk. This paper presents RD-LIVO, a degeneracy-aware mult...