Paper Citation Record · LEDGER

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry

As of 14 August 2026, this Paper Citation Record lists 37 of 37 outbound references and 2 inbound Pith citation observations for arXiv:2506.18583.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2506.18583 v1

Coverage vector

measured 37 of 37 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-06T23:20:43.633761Z

measured 39 of 39 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-14T06:32:32.682623+00:00

measured 2 of 2 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-05-14T19:42:39.831386Z

measured 1 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: arxiv_reference, observed 2026-08-05T02:28:24.338817Z

Reference resolution

37 of 37 outbound references displayed

verified exact2
verified fuzzy28
unresolved7
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

0
arxiv_reference, observed 2026-08-05T02:28:24.338817Z

Outbound references

Observation e34384fc-87bc-4e32-b73a-45586ea2502f · outbound

This paper cites Present and future of slam in extreme environments: The darpa subt challenge,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Present and future of slam in extreme environments: The darpa subt challenge,

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:50.346566Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 841f24e0-440b-47e2-81ae-cdb98dc26ddc · outbound

This paper cites A method for registration of 3-D shapes,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry A method for registration of 3-D shapes,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:50.052255Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 7c86d8b3-3460-402a-b70f-0d979bb484e9 · outbound

This paper cites MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:49.795604Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 3bede921-0be2-40bf-82d8-5a9df8db9992 · outbound

This paper cites Comple- mentary Multi–Modal Sensor Fusion for Resilient Robot Pose Estima- tion in Subterranean Environments,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Comple- mentary Multi–Modal Sensor Fusion for Resilient Robot Pose Estima- tion in Subterranean Environments,

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:49.588390Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation e594bc0d-a6b2-407b-b630-9c85fbe7b6fb · outbound

This paper cites Super odometry: Imu-centric lidar-visual-inertial estimator for challenging en- vironments,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Super odometry: Imu-centric lidar-visual-inertial estimator for challenging en- vironments,

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:49.402670Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 5c2a11fa-6fdd-42aa-bcff-48d897ee0a8d · outbound

This paper cites LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping,

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:49.208634Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 2d8a3c8c-ebd4-4640-a793-6d6fb6b5428f · outbound

This paper cites LIVER: A Tightly Coupled LiDAR-Inertial-Visual State Estimator With High Robustness for Underground Environments,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry LIVER: A Tightly Coupled LiDAR-Inertial-Visual State Estimator With High Robustness for Underground Environments,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:49.013573Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation b153d87e-39dc-4221-b97d-944120a314eb · outbound

This paper cites FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry

Reference 8

Resolution: verified exact; local_arxiv, observed 2026-08-06T23:20:44.277361Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation bcdde90c-d802-41f8-8cc2-0a3037be90b8 · outbound

This paper cites Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-06T23:20:41.290402Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 9aa417dc-140d-43c9-9c3a-5d2d12dfc91e · outbound

This paper cites Degradation resilient lidar- radar-inertial odometry,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Degradation resilient lidar- radar-inertial odometry,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:48.817180Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 003c57c0-53a7-4f2d-b229-007a9a18c565 · outbound

This paper cites Garlio: Gravity enhanced radar-lidar-inertial odometry,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Garlio: Gravity enhanced radar-lidar-inertial odometry,

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:48.607600Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 217cff00-ce40-43d1-aeda-4c2296ef73b9 · outbound

This paper cites Coin-lio: Complementary intensity-augmented lidar inertial odometry,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Coin-lio: Complementary intensity-augmented lidar inertial odometry,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:48.464361Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 3e167f8c-290a-4646-b7cc-23881950d7e6 · outbound

This paper cites Lidar odometry survey: recent advancements and remaining challenges,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Lidar odometry survey: recent advancements and remaining challenges,

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-06T23:20:41.568369Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c8cd028c-7625-4100-a445-5f20f37fea5b · outbound

This paper cites Fast Sparse LiDAR Odometry Using Self-Supervised Feature Selection on Intensity Images,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Fast Sparse LiDAR Odometry Using Self-Supervised Feature Selection on Intensity Images,

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:48.254353Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation ce7dbbb2-2fd3-4bca-bdef-501d438413f0 · outbound

This paper cites Md-slam: Multi-cue direct slam,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Md-slam: Multi-cue direct slam,

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:48.026652Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 655c7881-eeb7-4af4-95d5-d8ecc5047999 · outbound

This paper cites Real-Time Simultaneous Localization and Mapping with LiDAR Intensity,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Real-Time Simultaneous Localization and Mapping with LiDAR Intensity,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:47.843307Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation e11fd724-58f1-4401-9aa8-273908081baa · outbound

This paper cites An Intensity-Augmented LiDAR- Inertial SLAM for Solid-State LiDARs in Degenerated Environments,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry An Intensity-Augmented LiDAR- Inertial SLAM for Solid-State LiDARs in Degenerated Environments,

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:47.708661Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 7166cf52-5471-451e-8587-83701286cb77 · outbound

This paper cites Loam: Lidar odometry and mapping in real- time,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Loam: Lidar odometry and mapping in real- time,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:47.543723Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 6356835d-ad4d-41db-9a6e-7c697e0b335d · outbound

This paper cites Fast-lio2: Fast direct lidar- inertial odometry,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Fast-lio2: Fast direct lidar- inertial odometry,

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-06T23:20:41.994971Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation dfa97446-a500-481b-9a84-2553d83fcced · outbound

This paper cites RI-LIO: Reflectivity Image Assisted Tightly-Coupled LiDAR-Inertial Odometry,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry RI-LIO: Reflectivity Image Assisted Tightly-Coupled LiDAR-Inertial Odometry,

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:47.424755Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 9d2a6f23-9b0e-4500-a015-e3a6e3982d58 · outbound

This paper cites iSAM2: Incremental smoothing and mapping using the Bayes tree,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry iSAM2: Incremental smoothing and mapping using the Bayes tree,

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:47.260071Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation b9226400-ac6e-42b7-9a8c-71b4a01e1e92 · outbound

This paper cites Visual-Inertial-Aided Navigation for High- Dynamic Motion in Built Environments Without Initial Conditions,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Visual-Inertial-Aided Navigation for High- Dynamic Motion in Built Environments Without Initial Conditions,

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:46.739101Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 5fd4f07c-be1c-4900-9c25-68d9dfa9d4e3 · outbound

This paper cites Spherical harmonic modelling to ultra-high degree of bouguer and isostatic anomalies,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Spherical harmonic modelling to ultra-high degree of bouguer and isostatic anomalies,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:46.502293Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 275bd72f-6b79-4c07-8ad0-975aa256a685 · outbound

This paper cites Faster-LIO: Lightweight Tightly Coupled Lidar-Inertial Odometry Using Parallel Sparse Incremental V oxels,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Faster-LIO: Lightweight Tightly Coupled Lidar-Inertial Odometry Using Parallel Sparse Incremental V oxels,

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:46.324820Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 6b9a966d-ca87-403d-8b4e-d4f1ae372ae7 · outbound

This paper cites Imu preinte- gration on manifold for efficient visual-inertial maximum-a-posteriori estimation,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Imu preinte- gration on manifold for efficient visual-inertial maximum-a-posteriori estimation,

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:46.125642Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 6e7fa952-2a22-40d7-b8ed-1b5c03e73615 · outbound

This paper cites KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way,

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:45.883613Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation ef810fd5-2232-4092-b908-a03cdc2fea4c · outbound

This paper cites Robust Estimation of a Location Parameter,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Robust Estimation of a Location Parameter,

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-06T23:20:42.779522Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b93f9f67-6893-4017-883b-34bb50c40661 · outbound

This paper cites Ouster Sensor Documentation,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Ouster Sensor Documentation,

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:45.663848Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 25fa6a19-5c6e-4a6d-bf05-1bba3dc92cb8 · outbound

This paper cites Towards intensity-augmented SLAM with LiDAR and ToF sensors,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Towards intensity-augmented SLAM with LiDAR and ToF sensors,

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:45.404804Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 8e9e92cc-59fa-4ec6-bd30-1308c87b1ab2 · outbound

This paper cites Reflectivity Is All You Need!: Advancing LiDAR Semantic Segmentation.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Reflectivity Is All You Need!: Advancing LiDAR Semantic Segmentation

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-06T23:20:43.118444Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7f0457cd-3767-4621-9fc9-d7d59c3fa6bd · outbound

This paper cites Large scale photometric bundle adjustment,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Large scale photometric bundle adjustment,

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:45.179518Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 25fcc430-add6-4529-ac69-f4f42c811191 · outbound

This paper cites Szeliski, Computer Vision: Algorithms and Applications , ser.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Szeliski, Computer Vision: Algorithms and Applications , ser

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:44.984742Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation c7775ed1-91db-4f3a-b933-dc0aaddb163c · outbound

This paper cites Least Squares Normalized Cross Correlation.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Least Squares Normalized Cross Correlation

Reference 33

Resolution: verified exact; local_arxiv, observed 2026-08-06T23:20:43.823349Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 59c4fe13-0a58-4bd5-9631-6213eb1cf9c2 · outbound

This paper cites LIO- SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry LIO- SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping,

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:44.727182Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 8a96374a-c64f-4225-974e-896398a578e4 · outbound

This paper cites evo: Python package for the evaluation of odometry and slam.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry evo: Python package for the evaluation of odometry and slam

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-06T23:20:43.486707Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8afe57dd-9f5f-406b-bdaf-8f50e597d26e · outbound

This paper cites Multi-Camera LiDAR Inertial Extension to the Newer College Dataset.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry Multi-Camera LiDAR Inertial Extension to the Newer College Dataset

Reference 36

Resolution: unresolved; no resolver link, observed 2026-08-06T23:20:43.586776Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f3673b9c-c83c-4ecf-9529-a4db43c4e93b · outbound

This paper cites RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration,.

PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration,

Reference 37

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:20:44.429962Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Pith citing papers

Observation cd91da79-6535-4095-b8ea-616f8a4620ca · inbound

BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps cites this paper.

BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry

Reference 16

Resolution: metadata mismatch; arxiv_id, observed 2026-05-11T11:46:28.961365Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation ec7a01c9-9819-45b3-a6cc-78ae5b2514b5 · inbound

The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy cites this paper.

The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry

Reference 283

Resolution: verified exact; arxiv_id, observed 2026-05-14T19:42:51.968645Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.