FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry.

Chunran Zheng Qingyan Zhu Wei Xu Xiyuan Liu Qizhi Guo Fu Zhang

Published in: IROS (2022)

Keyphrases

tightly coupled
visual odometry
fine grained
autonomous navigation
long range
loosely coupled

general purpose
ego motion
position information
depth images
simultaneous localization and mapping

kalman filter
high level
kalman filtering
point cloud
web services

camera pose
urban areas
pose estimation
dynamic environments
mobile robot