Ultra-Fusion presents a unified sliding-window estimator for multi-sensor fusion SLAM supporting WIO/VIO/LIO/LVIO with observability-aware initialization, factor-wise reliability scheduling, and online spatiotemporal calibration.
Resilient odometry via hierarchical adaptation,
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Ultra-Fusion: A Resilient Tightly-Coupled Multi-Sensor Fusion SLAM Framework under Sensor Degradation and Spatiotemporal Perturbation for Intelligent Transportation Systems
Ultra-Fusion presents a unified sliding-window estimator for multi-sensor fusion SLAM supporting WIO/VIO/LIO/LVIO with observability-aware initialization, factor-wise reliability scheduling, and online spatiotemporal calibration.