Xin Chen

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

RD-LIVO is presented, a degeneracy-aware multi-sensor measurement framework that improves robustness through equivalent observation covariance regulation rather than estimator redesign and demonstrates improved absolute trajectory accuracy, reduced error dispersion, and cleaner maps in severely degenerate corridors whe...