R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package
Jiarong Lin,Fu Zhang,Jiarong Lin,Fu Zhang
In this paper, we propose a novel LiDAR-Inertial-Visual sensor fusion framework termed R3LIVE, which takes advantage of measurement of LiDAR, inertial, and visual sensors to achieve robust and accurate state estimation. R3LIVE consists of two subsystems, a LiDAR-Inertial odometry (LIO) and a Visual-Inertial odometry (VIO). The LIO subsystem (FAST-LIO) utilizes the measurements from LiDAR and inert...
