TurtleZhong / lvio_fusion

Lvio-Fusion: A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method (IROS 2021)

lvio_fusion

Introduction

A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method. In 1.0, we built a common framework, and we will focus on the complex environment of vehicles in 2.0. (This is still in development)

@misc{jia2021lviofusion,
      title={Lvio-Fusion: A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method}, 
      author={Yupeng Jia and Haiyong Luo and Fang Zhao and Guanlin Jiang and Yuhang Li and Jiaquan Yan and Zhuqing Jiang},
      year={2021},
      eprint={2106.06783},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

Dependencies

• ros (Kinetic/Melodic/Noetic)
• Eigen3
• Sophus
• opencv
• pcl
• ceres-solver
• libgeographic-dev

Usage

Complie:

catkin_make

Run:

source devel/setup.bash
roslaunch lvio_fusion_node kitti.launch

Result

kitti:

kaist urban: