Odometry is crucial for robot navigation, particularly in situations where global positioning
methods like global positioning system are unavailable. The main goal of odometry is to …

In this letter, we propose a tightly coupled LiDAR-inertial-visual (LIV) state estimator termed
LIVER, which achieves robust and accurate localization and mapping in underground …

In this work, we demonstrate continuous-time radar-inertial and lidar-inertial odometry using
a Gaussian process motion prior. Using a sparse prior, we demonstrate improved …

We present a real-time LiDAR-Inertial-Camera SLAM system with 3D Gaussian Splatting as
the mapping backend. Leveraging robust pose estimates from our LiDAR-Inertial-Camera …

In this technical report, we compare treating an IMU as an input to a motion model against
treating it as a measurement of the state in a continuous-time state estimation framework …

The motion distortion in LiDAR scans caused by aggressive robot motion and varying terrain
features significantly impacts the positioning and mapping performance of 3D LiDAR …