Toshihisa Abe

Cubemap-Based LiDAR-Inertial Odometry with Intensity Assistance

We present CUBE-LIO, a LiDAR-inertial odometry framework that leverages direct photometric constraints from LiDAR intensity to improve robustness in geometrically degenerate environments. At its core is an efficient cubemap projection that maps LiDAR intensity onto six cube faces, eliminating pole s…