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Vassili Korotkine

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Extending Ground-Constraint LiDAR-IMU Calibration to Tilted Surfaces in a Continuous-Time Framework
Vassili Korotkine
Pierre Chamoun
Mohammed Ayman Shalaby
James Richard Forbes
This paper presents a novel method that extends targetless LiDAR-IMU calibration for ground vehicles to non- flat environments. Calibration … (voir plus)typically necessitates full exci- tation of the sensor rig, a requirement that is not fulfilled by ground vehicles in normal operation. To address the degenerate planar motion, state-of-the-art methods propose residuals that assume the colinearity of the gravity and physical surface normal vectors, restricting usage to cases where the ground is assumed flat. This paper proposes ground-plane residuals that do not require this assumption, and are applicable for planar motion on a tilted surface. Results are demonstrated on a dataset collected from a Husky ground vehicle, on the M2DGR dataset, as well as on an offroad vehicle dataset. Repeatability is shown to be improved both in tilted and flat-ground scenarios, with strong improvement demonstrated for the tilted case. The implementation and experiments are open-sourced at https://github.com/vkorotkine/licalib_tilted_ground.
2026-08-24
arXiv (prépublication)
doi.org
arxiv.org
Observability and Consistency Analysis for Visual-Inertial Navigation with Anchored Feature Parameterizations
Mitchell Cohen
Vassili Korotkine
James Richard Forbes
This paper presents an analysis of the observability and consistency properties of filtering-based visual-inertial navigation systems (VINS)… (voir plus) that utilize anchored feature representations. The unobservable subspace of VINS with anchored landmark parameterizations is shown to be independent of the estimated landmark state, which leads to improved estimator consistency properties without any additional modifications. However, the unobservable subspace is still found to depend on the estimated navigation state, necessitating additional consistency-enforcing techniques. Two methods to improve the consistency of VINS with anchored feature representations are presented. Simulation results showcase that all estimators employing anchored feature paramterizations exhibit improved consistency properties compared to algorithms that estimate features resolved in a global reference frame, especially in scenarios where feature initialization may be poor. Real-world experiments on the TUM-VI dataset showcase that the use of anchored feature representations alone can yield comparable performance to consistency-improved estimators employing a global feature representation, demonstrating the benefit of using anchored feature parameterizations for VINS.
2026-06-16
arXiv (prépublication)
doi.org
arxiv.org