FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry
Chunran Zheng,Qingyan Zhu,Wei Xu,Xiyuan Liu,Qizhi Guo,Fu Zhang,Chunran Zheng,Qingyan Zhu,Wei Xu,Xiyuan Liu,Qizhi Guo,Fu Zhang
To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multisensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes FAST-LIVO, a fast LiDAR-Inertial-Visual Odometry system, which builds on two tightly-coupled and direct odometry subsystems: a VIO subsystem and a LIO subsystem. T...
