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Author

Tao Wang

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Conference Oct 2026

Decoupled soft SVD Jacobian remapping for degeneracy-aware LiDAR-inertial SLAM

A compact degeneracy-aware back-end update for FAST-LIO2 is presented, which replaces hard truncation with a sigmoid soft weight, splits the pose Jacobian into rotation and translation blocks, and assigns each block an adaptive threshold proportional to its dominant singular value.

Tao Wang, Wang-Chi Yu, Yu Liu · 0 citations

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