FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry.
Chunran ZhengQingyan ZhuWei XuXiyuan LiuQizhi GuoFu ZhangPublished in: CoRR (2022)
Keyphrases
- tightly coupled
- visual odometry
- loosely coupled
- fine grained
- autonomous navigation
- general purpose
- kalman filtering
- long range
- ego motion
- point cloud
- kalman filter
- position information
- simultaneous localization and mapping
- depth images
- sparse representation
- point sets
- extended kalman filter
- high level
- optical flow
- high resolution
- mobile robot
- d scene
- indoor environments
- motion blur
- web services
- field of view