Preprint
Sep 2026
FIRE-LIVWO: Robust LiDAR-Inertial-Visual-Wheel Odometry via Failure-Immune mmWave Radar Enhancement
Achieving robust SLAM in large-scale underground coal mines with complex structures and severe degeneracies remains highly challenging. Dense smoke and dust cause substantial loss of visual information and degrade LiDAR point-cloud features, while long, self-similar corridors induce geometric degeneration, leading to p...
Kun Hu, Menggang Li, Kai-Di Wu et al.
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