FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry.
Chunran ZhengQingyan ZhuWei XuXiyuan LiuQizhi GuoFu ZhangPublished 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