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ALIVE-LIO: Degeneracy-Aware Learning of Inertial Velocity for Enhancing ESKF-Based LiDAR-Inertial Odometry
Odometry estimation using light detection and ranging (LiDAR) and an inertial measurement unit (IMU), known as LiDAR-inertial odometry (LIO), often suffers from performance degradation in degenerate environments, such as long corridors or single-wall scenarios with narrow field-of-view LiDAR. To add
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