SOURCE-LINKED INTELLIGENCE

Dynamic-LIVO: A Dynamic-Aware LiDAR-Inertial-Visual Odometry System Using Spatio-Temporal Normals

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

This paper proposes Dynamic-LIVO, a dynamic-aware LiDAR-Inertial-Visual Odometry (LIVO) system for robust state estimation and static colored mapping in dynamic environments. Dynamic-LIVO employs Spatio-Temporal (S-T) normal analysis to identify dynamic LiDAR points and propagates the resulting classification to both LiDAR-inertial and visual-inertial updates, preventing dynamic LiDAR measurements and their associated visual observations from affecting state estimation and mapping. However, S-T normal estimation can be unreliable in newly observed and spatially sparse regions due to insufficie

Read original source ↗ Open in workspace

recordType: paper
region: Global

Evidence & attribution

arXiv · AI, language, vision and robotics · 2026-09-16T19:04:07.000Z

First collected: 2026-09-19T20:28:26.698Z. This is not the publication date.