FAST-LIVGO: A Degeneracy-Robust LiDAR-Inertial-Visual-GNSS Fusion Odometry (opens in new tab)

Robust state estimation and mapping in long-term, large-scale, and highly dynamic environments remains a key challenge in robotics. Existing LiDAR-Inertial-Visual Odometry (LIVO) systems achieve strong local accuracy but suffer from accumulated drift over long distances and may fail in geometrically degraded or textureless scenes. Meanwhile, GNSS-aided fusion frameworks often rely on LiDAR or visual odometry for state prediction and outlier reje...