FAST-LIVO
Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry
FAST-LIVO is a fast LiDAR-Inertial-Visual odometry system, which builds on two tightly-coupled and direct odometry subsystems: a VIO subsystem and a LIO subsystem. The LIO subsystem registers raw points (instead of feature points on e.g., edges or planes) of a new scan to an incrementally-built point cloud map. The map points are additionally attached with image patches, which are then used in the VIO subsystem to align a new image by minimizing the direct photometric errors without extracting any visual features (e.g., ORB or FAST corner features).
Contributors: Chunran Zheng 郑纯然， Qingyan Zhu 朱清岩， Wei Xu 徐威
Related Paper
Our related paper is now available on arXiv: FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry.
Related Video
Click below images to open our accompanying video.
Codes & Datasets & Our Hard Sychronized Equipment
Our code, private datasets and hard sychronized handheld device would be released asap. Thanks for your patience.
Acknowledgments
Thanks for FAST-LIO2 and SVO2.0.
Thanks for Livox Technology for equipment support.