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

Tixiao Shan Brendan J. Englot Carlo Ratti Daniela Rus

Published in: ICRA (2021)

Keyphrases

tightly coupled
inertial sensors
fine grained
loosely coupled
intermediate representation
general purpose
point cloud
sensor fusion
position and orientation
smoothing algorithm
visual features
high level
visual information
low level
case study
motion tracking
visual perception
dynamic model
kalman filter