SA-LIVO: Efficient LiDAR-Inertial-Visual Odometry with Subspace-Aware Degeneracy Handling

arXiv:2606.25699 · cs.RO · Submitted 2026-06-24 · Read on arXiv

cs.RO

Submitted: 2026-06-24

Updated: 2026-10-17

Comments: Preprint under review; not the final version, which may differ after peer review. 17 pages (11 main text + 6 supplementary material), 8 figures

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

Terminology

• Degeneracy — 2× in this paper · explained in 4 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Inflation — 1× in this paper · explained in 2 episodes

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