@misc{tian2026ultrafusion,
  title = {{Ultra-Fusion}: A Resilient Tightly-Coupled Multi-Sensor Fusion {SLAM} Framework under Sensor Degradation and Spatiotemporal Perturbation for Intelligent Transportation Systems},
  author = {Tian, Yihong and Zhang, Junjie and Li, Liuyang and Zhang, Deteng and Zuo, Yunfei and Yin, Jie},
  year = {2026},
  eprint = {2606.21223},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2606.21223}
}