Qingyan Zhu

FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry

To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multisensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes FAST-LIVO, a fast LiDAR-Inertial-Visual Odometry system, which…