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SA-LIVO: Efficient LiDAR-Inertial-Visual Odometry with Subspace-Aware Degeneracy Handling
Light detection and ranging (LiDAR)-inertial-visual odometry fuses geometric depth with visual measurements, but its sensors fail independently: LiDAR in under-constrained geometry, vision under poor illumination or texture. Weak information is harmless, since the filter then relies on the other sen
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