# RESPLE2: Inertial-Informed Non-Uniform B-Spline Multi-Sensor Odometry with Global Optimization

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/fgn842ihu0q1iyigpa8aur0k6
- Original: https://arxiv.org/abs/2610.37602

## Summary

RESPLE2 proposes a recursive multi-sensor state estimation framework based on non-uniform B-splines for 6-DoF motion representation, using the knot-clamping boundary property to predict control points directly from inertial kinematics. Prediction and reset are performed within an iterated extended Kalman filter, and the update step fuses LiDAR, camera, IMU, and leg kinematics at their native timestamps; a separate lightweight global optimization module refines control points using LiDAR-visual loop-closure constraints.