ALIVE-LIO: Degeneracy-Aware Learning of Inertial Velocity for Enhancing ESKF-Based LiDAR-Inertial Odometry

arXiv:2604.02706 · cs.RO · Submitted 2026-04-03 · Read on arXiv

cs.RO

Submitted: 2026-04-03

Updated: 2026-10-13

Comments: 23 pages, 18 figures

Code: https://github.com/cocel-postech/ALIVE-LIO

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Degeneracy — 4× in this paper · explained in 4 episodes
• Consistency — 1× in this paper · explained in 3 episodes

Sources

• LP-ICP: General Localizability-Aware Point Cloud Registration for Robust Localization in Extreme Unstructured Environments
• AirIMU: Learning Uncertainty Propagation for Inertial Odometry

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies