LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping.

Tixiao Shan Brendan J. Englot Carlo Ratti Daniela Rus

Published in: CoRR (2021)

Keyphrases

tightly coupled
inertial sensors
fine grained
loosely coupled
general purpose
intermediate representation
position and orientation
low level
sensor fusion
high level
visual perception
point cloud
visual features
visual information
dynamic model
semi automatic
multiscale