نسخة أولية وصول مفتوح
Benchmarking Visual-Inertial Odometry in Subterranean Environments Under Sensor Degradation, Miscalibration, and Dynamic Occlusion
Visual-inertial odometry (VIO) is a core capability for autonomous operation in GPS-denied subterranean environments, yet its reliability can degrade sharply under sensor drift, calibration errors, and dynamic occlusion. Existing evaluations mainly emphasize nominal-condition accuracy, offering limited insight into whe …