Peng Ding

Degeneracy-Aware Intensity-Assisted LiDAR–Inertial Odometry with Adaptive Photometric Weighting

LiDAR–inertial odometry (LIO) is accurate in structurally rich environments but can become weakly observable in tunnels, stairways, and open terrain. This study introduces a degeneracy-aware, intensity-assisted LIO method that uses LiDAR reflectivity as an internal sensing modali...