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

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

Terminology

• Degeneracy — 4× in this paper · explained in 3 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

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