2026
STEAM-LIVO: Spatio-Temporally Adaptive Manifold Lidar-Inertial-Visual Odometry for Sensor Degradation in Unstructured Natural Aquatic-Terrestrial Scenes
ICRA 2026poster
Sensor degradation in unstructured natural environments---manifesting as LiDAR point cloud sparsity or visual feature dropout---and out-of-sequence measurement challenges critically undermine localization robustness in autonomous systems. To address these limitations, we present STEAM-LIVO, a Spatio…