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When LiDAR Fades, Radar Takes Over: LiDAR Reliability-Aware Adaptive Localization Under Airborne Obscurants
LiDAR-inertial odometry (LIO) is widely used for real-time localization and mapping, but its reliability can degrade substantially in subterranean environments affected by smoke, dust, and other airborne obscurants, whereas radar remains comparatively robust. This article presents a one-class tempor
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