SA-LIVO: Efficient LiDAR-Inertial-Visual Odometry with Subspace-Aware Degeneracy Handling (opens in new tab)

Tightly coupled LiDAR-visual-inertial odometry (LIVO) fuses precise geometric depth with complementary visual measurements, yet its exteroceptive sensors face independent failure modes: LiDAR degenerates when scan geometry is under-constrained, while visual measurements degrade under adverse illumination or texture absence. Existing countermeasures, including binary degeneracy detection, covariance inflation, and scene-level quality gating, oper...