Papers citing 'SuperLoc: The Key to Robust LiDAR-Inertial Localization Lies in Predicting Alignment Risks'

Title
Good Weights: Proactive, Adaptive Dead Reckoning Fusion for Continuous and Robust Visual SLAM Yanwei Du Jing-Chen Peng Patricio A. Vela 45 0 0 26 Sep 2025
Towards Robust LiDAR Localization: Deep Learning-based Uncertainty Estimation Minoo Dolatabadi Fardin Ayar Ehsan Javanmardi Manabu Tsukada Mahdi Javanmardi 53 0 0 23 Sep 2025
SVN-ICP: Uncertainty Estimation of ICP-based LiDAR Odometry using Stein Variational NewtonIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Shiping Ma Haoming Zhang Marc Toussaint 118 0 0 09 Sep 2025
ARMOR: Adaptive Meshing with Reinforcement Optimization for Real-time 3D Monitoring in Unexposed Scenes Yizhe Zhang Jianping Li Xin Zhao Fuxun Liang Z. Dong Bisheng Yang AI4CE 223 1 0 28 Apr 2025
Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild Turcan Tuna Julian Nubert Patrick Pfreundschuh Cesar Cadena Shehryar Khattak Marco Hutter 287 17 0 21 Aug 2024
Prepared for the Worst: A Learning-Based Adversarial Attack for Resilience Analysis of the ICP AlgorithmIEEE International Conference on Robotics and Automation (ICRA), 2024 Ziyu Zhang Johann Laconte Daniil Lisus Timothy D. Barfoot AAML 184 2 0 08 Mar 2024
Traj-LIO: A Resilient Multi-LiDAR Multi-IMU State Estimator Through Sparse Gaussian Process Xin Zheng Jianke Zhu 239 15 0 14 Feb 2024
Tightly Coupled Range Inertial Localization on a 3D Prior Map Based on Sliding Window Factor Graph Optimization Kenji Koide Shuji Oishi Masashi Yokozuka A. Banno 142 11 0 08 Feb 2024
PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation Xiangcheng Hu Linwei Zheng Jin Wu R. Geng Yang Yu Hexiang Wei Xiaoyu Tang Lujia Wang Jianhao Jiao Mingming Liu 194 16 0 31 Jan 2024
Toward Certifying Maps for Safe Registration-based Localization Under Adverse ConditionsIEEE Robotics and Automation Letters (RA-L), 2023 Johann Laconte Daniil Lisus Timothy D. Barfoot 217 6 0 08 Sep 2023
SubT-MRS Dataset: Pushing SLAM Towards All-weather EnvironmentsComputer Vision and Pattern Recognition (CVPR), 2023 Shibo Zhao Yuanjun Gao Tianhao Wu Damanpreet Singh Rushan Jiang ... Sourojit Saha Ji Zhang Wenshan Wang Chen Wang Sebastian Scherer 230 43 0 14 Jul 2023
Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM Eason Chen Hanze Chen Yuen-Hsien Tseng 187 5 0 03 May 2023
X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme EnvironmentsIEEE Transactions on robotics (TRO), 2022 Turcan Tuna Julian Nubert Yoshua Nava Shehryar Khattak Marco Hutter Robotics Systems Lab 226 87 0 29 Nov 2022
KISS-ICP: In Defense of Point-to-Point ICP -- Simple, Accurate, and Robust Registration If Done the Right WayIEEE Robotics and Automation Letters (RA-L), 2022 Ignacio Vizzo Tiziano Guadagnino Benedikt Mersch Louis Wiesmann Jens Behley C. Stachniss 3DPC 240 409 0 30 Sep 2022
Learning-based Localizability Estimation for Robust LiDAR LocalizationIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 Julian Nubert E. Walther Shehryar Khattak Marco Hutter 249 37 0 11 Mar 2022
FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual OdometryIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 Chunran Zheng Q. Zhu Wei Xu Xiyuan Liu Qi Guo Fu Zhang 172 183 0 02 Mar 2022
Direct LiDAR Odometry: Fast Localization with Dense Point Clouds Kenny Chen B. Lopez Ali-akbar Agha-mohammadi Ankur M. Mehta 321 160 0 01 Oct 2021
R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package Jiarong Lin Fu Zhang 182 319 0 10 Sep 2021
FAST-LIO2: Fast Direct LiDAR-inertial OdometryIEEE Transactions on robotics (TRO), 2021 Wei Xu Yixi Cai Dongjiao He Jiarong Lin Fu Zhang 160 1,181 0 14 Jul 2021
Super Odometry: IMU-centric LiDAR-Visual-Inertial Estimator for Challenging EnvironmentsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2021 Shibo Zhao Hengrui Zhang Peng Wang Lucas Nogueira Sebastian Scherer 296 187 0 30 Apr 2021
FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman FilterIEEE Robotics and Automation Letters (RA-L), 2020 Wenyuan Xu Fu Zhang 430 816 0 16 Oct 2020
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping Tixiao Shan Brendan Englot Drew Meyers Wei Wang C. Ratti Daniela Rus 487 1,616 0 01 Jul 2020
Adaptive Robust Kernels for Non-Linear Least Squares ProblemsIEEE Robotics and Automation Letters (RA-L), 2020 Nived Chebrolu Thomas Labe O. Vysotska Jens Behley C. Stachniss 162 79 0 30 Apr 2020
Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop ClosureIEEE International Conference on Robotics and Automation (ICRA), 2020 Milad Ramezani Georgi Tinchev Egor Iuganov Maurice F. Fallon 158 52 0 28 Jan 2020
A New Approach to 3D ICP Covariance EstimationIEEE Robotics and Automation Letters (RA-L), 2019 Martin Brossard Silvere Bonnabel Axel Barrau 3DPC 142 57 0 12 Sep 2019