SELVO: A Semantic-Enhanced Lidar-Visual Odometry

Kun Jiang,Shuang Gao,Xudong Zhang,Jijunnan Li,Yandong Guo,Shijie Liu,Chunlai Li,Jianyu Wang,Kun Jiang,Shuang Gao,Xudong Zhang,Jijunnan Li,Yandong Guo,Shijie Liu,Chunlai Li,Jianyu Wang

In the face of complex external environment, single sensor information can no longer meet the accuracy requirements of low-drift SLAM. In this paper, we focus on the fusion scheme of cameras and lidar, and explore the gain of semantic information to SLAM system. A Semantic-Enhanced Lidar-Visual Odometry (SELVO) is proposed to achieve pose estimation with high accuracy and robustness by applying se...