Image-aligned metric demonstrations often require dedicated tracking hardware and synchronization across devices. We present MonoEgo, a capture system that replaces active wrist instrumentation with offline monocular reconstruction. One 90-FPS global-shutter camera observes calibrated passive wrist constellations, spar …
LiDAR place recognition is a key front end for loop closure and global relocalization, yet indoor retrieval remains difficult when attitude or sensor mounting height changes between mapping and query sessions. Scan Context stores the maximum height in each polar cell; indoors, broad ceilings can suppress the lower and …
LiDAR-inertial odometry (LIO) systems differ in whether they continue estimating gravity after initialization. We compare four gravity-bias state configurations in each of FAST-LIO2 and LIO-SAM, then separately test a gravity-direction factor. Across 12 dataset sequences evaluated with FAST-LIO2, fixing gravity under c …