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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Peng Zheng

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Open access Sep 2026

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 modality without requiring a camera. Raw retur...

Peng-Heng Ding, Feng-Yu Liu, Peng Zheng et al. · 0 citations

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