Author

Liang Zhao

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Preprint Oct 2026

GR-LIO: A Local Ground-Aware LiDAR-Inertial Odometry System Using Body-to-Ground Height

LiDAR-inertial odometry (LIO) is widely used for state estimation in ground-based autonomous mobile robots. However, the geometric constraints provided by the local ground surface remain largely underexploited in existing LIO systems. This paper proposes a filter-based local ground-aware LIO framework that explicitly i...

Zhi-Xin Zhang, Yang Song, Liang Zhao et al. · 0 citations

Preprint Sep 2026

Dynamic-LIVO: A Dynamic-Aware LiDAR-Inertial-Visual Odometry System Using Spatio-Temporal Normals

This paper proposes Dynamic-LIVO, a dynamic-aware LiDAR-Inertial-Visual Odometry (LIVO) system for robust state estimation and static colored mapping in dynamic environments. Dynamic-LIVO employs Spatio-Temporal (S-T) normal analysis to identify dynamic LiDAR points and propagates the resulting classification to both L...

Zhi-Xin Zhang, Samuel Ahiwe, Matthew Hale et al. · 0 citations